摘 要
機(jī)械手是模仿著人手的部分動(dòng)作，按給定程序、軌跡實(shí)現(xiàn)自動(dòng)抓取、搬運(yùn)和操作的自動(dòng)機(jī)械裝置。在工業(yè)生產(chǎn)中應(yīng)用的機(jī)械手被稱為“工業(yè)機(jī)械手”。本次設(shè)計(jì)的60噸沖床上料機(jī)械手根據(jù)規(guī)定的動(dòng)作順序，完成對(duì)機(jī)械手的設(shè)計(jì)，對(duì)機(jī)械手的工作原理，結(jié)構(gòu)使用范圍，特點(diǎn)參數(shù)選擇等方面進(jìn)行了闡述。此60噸沖床上料機(jī)械手主要是給沖床進(jìn)行上料和從儲(chǔ)料框中取料；機(jī)械手的抓重1Kg；1個(gè)自由度三個(gè)具體動(dòng)作，自由度為腰座的轉(zhuǎn)動(dòng),采用圓柱坐標(biāo)；其余兩個(gè)動(dòng)作為機(jī)械手的升降和伸縮，采用螺母和螺栓調(diào)節(jié)，可根據(jù)生產(chǎn)的需要改變機(jī)械手手臂的高度和長度以及更換吸盤?；剞D(zhuǎn)角度：60度；送料頻率：50-60次/分；驅(qū)動(dòng)方式為氣壓傳動(dòng)；機(jī)械手的腰座回轉(zhuǎn)采用氣缸帶動(dòng)齒條齒輪驅(qū)動(dòng)；本設(shè)計(jì)主要對(duì)手部進(jìn)行了設(shè)計(jì)和計(jì)算，腰座回轉(zhuǎn)采用回轉(zhuǎn)氣缸。
關(guān)鍵詞：上料機(jī)械手；沖床上料；氣壓傳動(dòng)
Design for the punch manipulator
Abstract
Manipulator is imitate the part of the hand, according to the given program, track and for automatic mechanical device to realize the acquirement, handling and operation of the. The manipulator used in the industrial production is called "industrial manipulator". 60 tons punch the design of the manipulator according to the provisions of the action sequence, complete the design of manipulator, the working principle of the manipulator, the use range structure, gives the characteristic parameters. This 60 tons punch manipulator is mainly to press for feeding and from the material storage box material; mechanical hand catch weight 1Kg; 1 degrees of freedom three specific actions, degrees of freedom for rotation waist seat, using cylindrical coordinates; the remaining two of the mechanical hand movements and the expansion, the nut and bolt adjustment, according to production needs to change the mechanical arm height and length and replacing chuck. Because the rotary angle: 60 degrees; the feeding frequency: 50-60 times / points; drive mode for pneumatic drive; waist seat rotary manipulator cylinder is used to drive a rack gear drive; the design of the main part of the design and calculation, waist, rotating the rotary cylinder.
KeyWords：feeding manipulator；punch feeding；pneumatic transmission
目 錄
1 緒論 1
1.1 機(jī)械手簡介 1
1.2 機(jī)械手發(fā)展現(xiàn)狀及應(yīng)用 1
1.2.1國內(nèi)外發(fā)展現(xiàn)狀 1
1.2.2機(jī)械手的應(yīng)用 4
2 機(jī)械手的總體設(shè)計(jì) 7
2.1 機(jī)械手的總體結(jié)構(gòu) 7
2.1.1 機(jī)械手組成 7
2.1.2 機(jī)械手坐標(biāo)形式的確定 9
2.1.3上料機(jī)械手的組成及工作原理 9
2.2 機(jī)械手腰座結(jié)構(gòu)的設(shè)計(jì) 11
2.1.1 機(jī)械手的驅(qū)動(dòng)系統(tǒng)的確定 12
2.1.2 機(jī)械手的機(jī)械傳動(dòng)機(jī)構(gòu)的確定 15
2.3 機(jī)械手手臂的結(jié)構(gòu)設(shè)計(jì) 18
2.4 機(jī)械手手部的結(jié)構(gòu)設(shè)計(jì) 19
3 機(jī)械手理論分析和設(shè)計(jì)計(jì)算 21
3.1 系統(tǒng)設(shè)計(jì)計(jì)算 21
3.1.1 確定氣壓系統(tǒng)基本方案 21
3.1.2 氣壓缸的總機(jī)械載荷的計(jì)算 22
3.1.3 氣缸強(qiáng)度的計(jì)算及校核 23
3.1.4 計(jì)算和選擇氣缸元件 25
3.2 吸盤的選擇和計(jì)算 25
總 結(jié) 29
參考文獻(xiàn) 30
致 謝 31
畢業(yè)設(shè)計(jì)（論文）知識(shí)產(chǎn)權(quán)聲明 32
畢業(yè)設(shè)計(jì)（論文）獨(dú)創(chuàng)性聲明 33