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中北大學(xué)2007屆畢業(yè)設(shè)計說明書
氣動通用上下料機械手的設(shè)計——機械結(jié)構(gòu)設(shè)計
摘要：本文通過對機械手的組成和分類，及國內(nèi)外的發(fā)展狀況的了解，進行了總體方案設(shè)計，確定了機械手用四自由度和圓柱坐標型式。
本機械手為通用機械手，故同時設(shè)計了機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。計算出了手腕轉(zhuǎn)動時所需的驅(qū)動力矩和回轉(zhuǎn)汽缸的驅(qū)動力矩，確定了相關(guān)尺寸，設(shè)計了機械手的腕部結(jié)構(gòu)；設(shè)計了機械手的手臂結(jié)結(jié)構(gòu)；設(shè)計了手臂伸縮，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.