在机械加工中，大部分零件都要进行多种工序加工。在一般数控机床的整个加工过程中，真正用于切削的时间只占整个工作时间的30%左右，其余的大部分时间都花在安装、调整刀具、装卸、搬运零件和检查加工精度等辅助工作上。自动换刀装置是数控加工中心在工件的一次装夹中实现多道工序加工不可缺少的装置。为充分发挥机床的作用，数控中心均配有自动换刀装置。

（1）设计镗铣加工中心换刀机械手部件的结构，传动系统以及驱动系统，使其能够满足快速，平稳，准确换刀的功能。

（2）完成重要零件的设计，主要包括齿轮的设计，轴的设计，手指的设计。使用solidworks对所有换刀机械手零件进行三维建模，并建立总装模型。

（3）用AutoCAD画出换刀机械手重要零部件的二维图纸。

  The robot is a new device developed in the mechanization and automation of the production process.  Although the robot is not as staffing flexibility, but it has repeated the work and labor, I do not know fatigue, not afraid of danger, the the snatch weight of force than manual force, Therefore, the robot has been subject to many sectors, and increasingly has been applied more widely.

  In machining, most of the parts should be carried out a wide range of machining processes. Whole process in general CNC machine tools for cutting real time accounted for only about 30% of the entire working time, most of the rest of the time is spent on installation, adjustment tool, loading and unloading, handling parts and check processing accuracy auxiliary work on Automatic tool changer CNC machining center in one clamping of the workpiece to achieve multi-channel processing indispensable device. In order to give full play to the role of the machine tool, CNC centers are equipped with automatic tool changer.

  The focus of this project is boring and milling machining center blade structural design of the robot. Industrial robot is mainly used for machining, casting, heat treatment, regardless of the quantity, quality or performance are not fully meet the needs of industrial development. Focused on solving the problem of the subject: A tool of the structural design of the robot components, select the check key parts and size optimization.

The main design elements:

(1) Design milling centers gripper parts of the structure, the transmission system and drive system to enable it to meet the fast, smooth and accurate tool.

(2) the completion of the important parts of the design, including the choice of gear design, the design of the shaft bearing. Pro / E 3D modeling, and all parts of gripper

assembly model.

(3) AutoCAD to draw the gripper important parts of the two-dimensional drawings.

Keywords: boring and milling machining center; structural design; gripper; retractable rotary arm claw robot.

 

2.2 机械手的平稳性 17

2.3 机械手的运动特性 18

2.4 换刀机械手方案的确定 19

第3章 换刀机械手的总体方案设计 19

3.1手爪部分设计 19

3.2 机械手手臂的设计 20

3.3 机械手传动方式的选择 21

3.3.2 主轴以及机械手上下伸缩的传动机构设计 23

第4章 换刀机械手的结构设计及尺寸确定 26

4.1  手指结构设计及计算 26

4.1.1  手指夹紧力的计算 26

4.1.2  手指部分的相关校核 28

4.2手臂的弯曲变形 30

4.3 轴与机械手配合部分的直径的选取 32

4.4 机械手转过180度的驱动机构设计 33

4.5  设计参数 26

第5章 总结与展望 37

参考文献 38

致  谢 40