机床料机械手的设计与应用毕业论文.doc

摘 要 本论文主要介绍了多工位冲床料机械手的设计过程。在查阅了一系列参考资料以后，参阅国内的设计情况。选用圆柱座标和三自由度。机械手的各执行机构，包括:手部、手臂等部。用气流负压式吸盘来吸取板料工件。 在分析了具体工作要求，对个方案进行对比之后，综合考虑各个因素。机械手腰部的旋转运动需要一定的定位控制精度，故采用步进电机驱动来实现；因为采用液压执行缸来做手臂，故手臂均采用液压驱动；机械手的手部结构设计，因为工件是板料，使用气流负压式吸盘.采用气动驱动。 关键词：冲床 机械手 负压吸盘 Abstract The present paper mainly introduced on the punch press the yummy treats manipulators design process. After having consulted a series of reference, refers to the domestic design situation. Selects the circular cylindrical coordinate and three degrees-of-freedom. Manipulators each implementing agency, including: Hand, arm and so on. Absorbs the sheet work piece with the air current negative pressure type sucker. In has analyzed the concrete work requirement, carries on the contrast after a plan, overall evaluation each factor. The manipulator waists rotary motion needs certain positioning control precision, therefore uses step-by-steps the motor-driven to realize; Because uses the hydraulic pressure execution cylinder to make the arm, therefore thel arm uses the hydraulic pressure actuation; Manipulators hand structural design, because the work piece is the sheet, use air current negative pressure type sucker. Uses the air-operated drive. key words: Punch press manipulator negative pressure sucker 目录 摘 要 ABSTRACT 第一章 绪论…………………………………………………………………………1 1.1 机械手的发展状况………………………………………………………….1 1.2 课题背景及研究意义……………………………………………………….4 1.3 日程安排…………………………………………………………………….5 第二章 机械手的总体设计…………………………………………………………6 2.1 设计具体采用方案………………………………………………………….7 2.2 机械手腰座结构设计……………………………………………………….7 2.3 机械手手臂结构设计……………………………………………………….8 2.4 机械手手部结构设计方案………………………………………………….9 2.5 机械手机械传动结构设计………………………………………………….9 2.6 机械手驱动系统的设计………………………………………………...….11 2.7 确定采用方案………………………………………………………………15 第三章 理论分析与设计计算……………………………………………………...16 3.1 手部驱动力计算……………………………………………………………16. 3.2 手腕驱动力矩计算…………………………………………………………19 3.3手臂伸缩、升降、回转气缸的吃尺寸设计与校核……………………….25 第四章 结论………………………………………………………………………...30 参考文献..............................