锻机上料机械手三维设计

摘 要毕业设计说明书设计题目：锻机上料机械手三维设计学生姓名： 学 号：专业班级： 学 部：指导教师：本设计包含全部说明书及三维图纸和部分CAD图纸QQ229780692 、摘要本课题是为轴类零件精锻自动线而设计的上料机械手。本文对机械手进行了总体方案的设计，确定了机械手的座标型式，自由度和机械手的技术参数。并分别确定了该机械手的手臂回转机构，手臂的升降机构，夹紧式手部结构以及手部更换装置等、并利用PRO-E绘制了上料机械手升降机构，连接件结构，手臂装配图，手腕结构，手部结构图。并简要的介绍了工业机器人的概念，机械手的组成和分类，机械手的自由度和座标型式等基本知识。题目的设计要求是该机械手能将轴类零件从一点搬运到另外一点，因此具有回转和升降功能便能满足设计要求。故采用了类似圆柱坐标的型式。具有四个自由度。手臂的回转装置采用了齿轮机构，依靠液压缸的驱动实现了手臂的升降运动。由于工作对象为轴径结构，手部是通过手指伸缩缸，推动杆以及夹紧式手指实现对轴类零件的抓起和放下。更换手部的手指可以抓取不同系列的产品。这样扩大了该机械手的使用范围。由于液压系统具有结构简单，便于维护和维修，自身具有润滑功能等优点，手臂的升降和手指的收缩机构都采用了液压系统。实践证明，工业机械手可以代替人手的繁重劳动，显著减轻工人的劳动强度，从而提高经济效益。工业生产中经常出现的笨重工件的搬运和长期频繁、单调的操作，采用机械手是非常有效的。在繁重的条件下进行的操作，更显示其优越性，有着广阔的发展前途。关键词：工业机器人；机械手；液压系统；液压7AbstractAbstractThis issue is for the automatic processing lines at the extract forging of shaft parts designed for loading manipulator. In this paper, the manipulator of the overall plan for the design, determine the coordinates of the mechanical hand type, freedom and manipulator of technical parameters. Were identified and the manipulator arm of the Rotary, the movements of arms, hand-hold in the structure and the replacement of devices such as hand and use PRO-E drawing of the maps which are lifter parts of loading manipulator, the structure of the connection assembly,the arms Assembly, the structure of the wrist, the structure of the hand, and other parts map. And briefly introduced the concept of industrial robots, robot on the composition and classification, manipulator freedom and coordinates the basic type of knowledgeThe demand of the subject is that the maniplator can move the shaft from one place to the other place.So it need to have the lifting and revolving function.Using a similar type of cylindrical coordinates. Has four degrees of freedom. The arm of the Rotary installations in the rack gear, hydraulic cylinders on the drive to achieve the movements of the arms . As the objects of their work for the aperture structure, the hand through the fingers stretching cylinder, and at promoting the realization of finger-hold at the start of the shaft and put aside. The pressure to replace the hand-can crawl different series of products. This has expanded the scope of the use of mechanical hand.Because the structure of the hydraulic system is simpleness,it is easy to mainten.Also it can lubricate itself.The arms lifting and the fingers constriction all use the hydraulic system.The practice proved that the industry manipulator may replace the manpower the strenuous labor, obviously reduces workers labor intensity, thus raises the economic efficiency. In the industrial production appears frequently unwieldy work piece transporting and long-term frequent, monotonous operation, uses the manipulator is very effective. Operation which carries on under the arduous condition, demonstrates its superiority, has the broad career development. KeyWords：Industrial robots; manipulator; hydraulic system; Hydraulic目 录目录摘要IAbstractII第一章 绪 论11.1机械手概述11.2机械手的组成和分类21.2.1机械手的组成21.2.2机械手的分类51.3 国内外发展状况71.4课题的提出及主要任务81.4.1课题的提出81.4.2课题的主要任务10第二章 机械手的方案设计112.1机械手的座标型式与自由度112.2 机械手的手部结构方案设计112.3 机械手的手臂结构方案设计132.4 机械手的驱动方案设计142.5 机械手的控制方案设计172.6机械手的工作情况分析172.7机械手的动作流程要求分析172.8原始数据资料18第三章 手部结构设计203.1 手部的形状和分类203.2设计时考虑的几个问题213.3手部夹紧机构的设计21第四章 手臂结构设计274.1 手臂伸缩部分274.1.1 结构设计274.1.2手臂伸缩液压缸的设计274.2 手臂回转部分314.2.1手臂的运动要求314.2.2手臂设计计算314.2.3.齿轮的设计计算324.2.4.轴承寿命的计算374.2.5键联接的强度校核40第五章 PRO-E设计的总结425.1 PRO-E简介425.2 PRO-E优缺点42第六章 机械手的定位与平稳性436.1常用的定位方式436.2影响平稳性和定位精度的因素436.3机械手运动的缓冲装置44结 论45致 谢46参考文献47参考文献附 录