小型铸件上料机械手设计

文档编号:JX1453  文档字数:11047.页数:23   附任务书，开题报告，中期报告，外文翻译，CAD图，及CAXA图

摘    要
 小型铸件上料机械手广泛应用于工业生产中，它能解决人力上料强度大、工作效率低等问题。本设计以实际生产中小型铸件的上料过程为背景，重点在于机械手手腕夹取装置和轨迹的设计上，从而保证快速精确完成上料。
 整个设备的运动可以分为一下几个部分：腰部的回转运动、后臂的俯仰运动、前臂的俯仰运动、手腕的转动和俯仰运动、手部的夹紧运动。手碗的转动和手部的夹紧采用气压缸驱动的方式，其他的运动则采用电机驱动的方式。
 具体完成的工作有：① 腰部系统的理论分析、设计计算及图纸绘制；② 手臂的设计及图纸绘制；③ 手腕及其抓手的设计计算及图纸绘制。
 采用机械手提高工作效率，减少工作强度，有很大的实用价值。
 
关键词：机械手；小型铸件；五自由度；上料设备

ABSTRACT
 Small Casting Manipulator widely used in industrial production,which can solve the problems of high intensity labor and low efficiency in the work. The design of the actual production of small and medium casting process on the background material and the emphasis are clamp device of wrist of the manipulator and its path, which can guarantee transporting loading and unloading accurate exact.
 The entire equipment's movement may divide into next several parts: the waist's gyroscopic movement、the latter arm's pitching movement、the forearm's pitching movement、rotation and pitching movement of the wrist. Hand's clamp selects the method which the barometric pressure cylinder actuates, and other movements use the way of the motor-driven.
 Completes specifically the work as follows: ① waist system's theoretical analysis, design calculation and blueprint plan;  ② arm's design and blueprint plan；③ the design calculation of wrist and gripping device and blueprint plan.
 Manipulator's application can raise the working efficiency, reduces the working strength, and has the very great use value.
 
 Key words： Manipulator; Small castings; Five degrees-of-freedom; Feeding  equipment

目    录
摘要………………………………………………………….. .I
ABSTRACT………………………………………………………….II
1 前言…………………………………………………………….. …………… .1
 1.1机械手概述......... .......................……………..1
 1.2 国内外机械手的发展状况…............………………..1
2 机械手的设计方案..................…………………….3
 2.1 设计的相关要求与数据………………………………………………..4
 2.2 机械手的坐标形式…………………………………………………..5
 2.3 机械手的自由度…………………………………………………………….6
 2.4 实现形式的选择…………………………………………………………….7
3 各个部分的设计及计算…………………………………………………………………8
 3.1 手部的设计……………………………………………………………………….8
 3.2 手部的旋转……………………………………………………………………….9
 3.3 手腕的俯仰……………………………………………………………11
 3.4 前臂结构的设计………………………………………………………………...12
 3.5 后臂结构的设计………………………………………………………………...13
 3.6 腰部的设计…………………………………………................14
 3.7 轴承的选用……………………………………………………………………...15
4 设计说明………………………………………………………………………………..16
5 结论..................………………………....17
参考文献..................………………………………….18
致谢..................……………………………………….19

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