热处理上下料机械手结构设计
摘要
随着科学技术的发展，人类社会进入了一个以自动化和电子技术为标志的新时代。自动化机械大量应用于工业工程中，其中工业机械手的应用最为广泛。工业机械手是一种模仿人手动作的机器，可以取代很多的人工操作，并可以取得更高的效率。
本论文介绍了用于夹持热处理件的上下料机械手的设计。它采用液压驱动，动作平稳，控制方便。
本论文主要阐述该机械手的升降和回转的设计和计算。首先从机械手的基础知识介绍有关机械手的组成、分类、臂部设计，液压控制的多种方案，再从本次设计所要求的功能原理设计开始，对于不同的方案加以比较和论证，从中可确定出最优方案，并采用其方案。着重阐述了机身的设计，具体阐述了机械手的设计原则和步骤，分析了设计时应注意的问题，并对机械手的平稳性及定位精度给予详细的论述。设计并分析了该机械手所用的液压控制的方法和过程。由于经验不足，知识有限，难免有误，有待改进。
关键词 机械手；液压；驱动力；定位精度
Abstract
With the development of technology, the human society entered a modern ear for with automation with electronics technique for marking. Automation machine large quantity is applied in industry engineering inside, among them the application of the industry machine hand is the most extensive. The industry machine of a kind of mimicry hand action, can replace a lot of artificials operate, combining can obtain the higher efficiency.
This thesis introduces to used for clipping to hold the outside circle a design for and down anticipating machine hand. It adopts the liquid presses to drive, ordering a procedure control, acting steady, control convenience.
This thesis expatiates the rise and fall of the machine’s hand primarily with the design of the turn-over with compute. Constitute, divide into section form the relevant machine in introduction in knowledge in foundation of the machine hand first, wrist a various projects for and arm department designing, liquid pressing control, start from this design a function for requesting principle, take into the comparison to the different project with the argument, can make sure the superior project from the inside, combine to adopt its project, in as to it’s of the foundation of the construction design, as to it’s driver force and moment proceed the calculation. Emphasize the design that expatiated the fuselage, expatiated the design principle of the machine hand in a specific way with the step, analyzed the problem of design should notice, and give to the steady and fixed position accuracy of the machine hand detailed treatise. Because of experience shortage, the knowledge is limited, difficult do not need the mistake, treat to improve.
Keywords Manipulator; Liquid presses; Driving force; Fixed position accuracy
目录
摘要 I
Abstract II
第1章 绪论 1
1.1 课题的研究背景和意义 1
1.2 课题的发展前景 1
1.3 本章小结 2
第2章 工业机械手概述 3
2.1 工业机械手的分类 3
2.2 工业机械手的组成 3
2.3 工业机械手的自由度和坐标形式 5
2.3.1 工业机械手的自由度 5
2.3.2 机械手的几种坐标形式 6
2.4 本章小结 7
第3章 工业机械手的设计 8
3.1 手部 8
3.2 臂部 10
3.3 手部升降部分 13
3.4 本章小结 23
第4章 机械手总体方案的总结 24
4.1 机械手的动作和规格参数 24
4.2 本机械手的特点 24
4.3 本章小结 24
结论 25
致谢 26
参考文献 27
