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桁架上料机械手设计含三维图+二维+说明书

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轴视图1

目录

摘要·················································Ⅰ
ABSTRACT ·············································Ⅱ
第一章绪论············································1
1.1课题背景及目的·········································1
1.2本课题研究的意义······································1
1.3自动上下料机构的组成分类及特点························2
第二章总体设计方案····································3
2.1机械手设计要求········································3
2.2动作要求分析··········································4
2.3机械手的基本形式······································4
2.4机械手材料的选择······································5
2.5自动上下料机构布局拟定································5
2.6驱动方式的选择········································7
2.7 CK6140型数控车床的主要参数····························8
第三章机械手结构设计··································9
3.1手部的设计·············································9
3.1.1手部的概述··········································9
3.1.2机械手部的典型结构··································9
3.1.3手爪设计原则········································12
3.1.4机械式手爪设计······································12
3.1.5手部驱动力计算······································13
3.2臂部的设计············································16
3.2.1手臂的常用机构······································17
3.2.2手臂设计原则········································17
3.2.3臂部驱动力计算······································18
3.3机身的设计············································21
3.3.1机身的整体设计······································21
3.3.2机身回转机构的设计计算······························24
3.3.3机身升降液压缸的设计计算····························26
第四章机械手的运动分析·······························33
4.1液压缸的设计选择······································33
4.2机械手的手爪的运动····································34
4.3机械手的臂部的运动····································34
4.4机械手的整体运动分析··································34
总结···················································36
致谢···················································37
参考文献···············································38

摘要

本课题主要进行生产线轴套类零件自动上下料机构设计，该设计属于机械手的一部分，生产线轴套类零件自动上下料机构是在机械化、自动化生产过程中发展的一种新型装置，实现了胚料的抓取、自动定位、夹紧以及工件的回放。机械手能代替人类重复完成枯燥危险的工作，提高劳动生产力，减轻人的劳动强度。该机构涵盖了位置控制技术、可编程序控制技术、检测技术等。本课题设计的液压机械手可在空间抓放物体，动作灵活多样。根据工件的变化及生产技术的要求随时更改相关参数，可代替人工在高温危险区进行作业。

关键词：机械手轴套类零件自动上下料机构提升旋转

ABSTRACT

This topic mainly production spool and sleeve type parts automatic feeding mechanism design. The design is part of the manipulator, the production spool and sleeve type parts automatic feeding mechanism is the development of mechanization and automation of the production process of a new type of device to achieve the blank to grab, automatic positioning, clamping and workpiece playback. Mechanical hand can replace the human to complete the boring work, improve labor productivity, reduce labor intensity. The organization covers the position control technology, programmable control technology, detection technology, etc.. This topic design of the hydraulic manipulator can grasp the object in space, flexible and diverse movements. According to the change of workpiece and production technology requirements at any time to change the relevant parameters, can be used to replace manual work in the high temperature danger zone.

Key words：mechanical hand, automatic loading and unloading mechanism, lifting, rotation

第一章绪论
1.1课题背景及目的
纵观目前我国的发展情况,如果把万能车床改成自动或半自动机床，那么就能充分发挥万能机床的潜力,这对制造业的生产无疑是有重大意义的。机床的自动上下料机构,是制造车间里重要的组成部分。于是，该机构应该与自动机床和自动线一起设计。
在自动化加工的装配生产线中,能自动完成将工件向加工或装配机械供给并上下料的机构，称为自动上下料机构。自动上下料机构就是为完成让毛坯自动地选择加工位置，准确的定位、夹紧以及取下加工完的零件所必须的许多功能的总和。