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中北大學(xué)2007屆畢業(yè)設(shè)計(jì)說明書
氣動(dòng)通用上下料機(jī)械手的設(shè)計(jì)——機(jī)械結(jié)構(gòu)設(shè)計(jì)
摘要：本文通過對(duì)機(jī)械手的組成和分類，及國內(nèi)外的發(fā)展?fàn)顩r的了解，進(jìn)行了總體方案設(shè)計(jì)，確定了機(jī)械手用四自由度和圓柱坐標(biāo)型式。
本機(jī)械手為通用機(jī)械手，故同時(shí)設(shè)計(jì)了機(jī)械手的夾持式手部結(jié)構(gòu)和吸附式手部結(jié)構(gòu)，可以更換使用。計(jì)算出了手腕轉(zhuǎn)動(dòng)時(shí)所需的驅(qū)動(dòng)力矩和回轉(zhuǎn)汽缸的驅(qū)動(dòng)力矩，確定了相關(guān)尺寸，設(shè)計(jì)了機(jī)械手的腕部結(jié)構(gòu)；設(shè)計(jì)了機(jī)械手的手臂結(jié)結(jié)構(gòu)；設(shè)計(jì)了手臂伸縮，升降用液壓緩沖器和手臂回轉(zhuǎn)用液壓緩沖器。
關(guān)鍵詞 上下料，機(jī)械手，氣缸。
Mechanical Structural Design of Air Pressure Drive Upper and Lower Material Manipulator
Abstract: At first, the paper introduces the conception of the industrial robot and the information of the development briefly. What's more, the paper accounts for background and the primary mission of the topic.The paper introduces the function, composing and classification of the manipulator, tells out the free-degree and the form of coordinate. At the same time, the paper gives out the primary specification parameter of this manipulator.
This paper designs the structure of the hand and the equipment of the drive of the manipulator，and analyzes the error of the orientation of the fingers. the paper designs the structure of the wrist, computes the needed moment of the drive when the wrist wheels and the moment of the drive of the pump. the paper designs the structure of the arm, and designs the hydraulic pressure buffer when the manipulator's arm flexes, ascend, descend and wheels.
Key words: upper and lower material, manipulator, air cylinder.