机械手夹持器的设计（含全套CAD图纸）.doc

买文档后送图纸，QQ 194535455 摘 要  这次毕业设计我选的题目是机械手夹持器设计， 课题是针对流水线自动化 生产而设计的机械夹持器。本课题包括机械夹持器总体设计、计算；液压传动系 统的设计与计算、部件和零件设计。机械手与机器人的联系非常密切，机械手的 应用和发展，大大促进了智能机器人的研制。同时，机械手是一门应用很广的学 科，它几乎在各个部门和学科都有应用，尤其在机械工业和铁路工业中。 我所设计的夹持器基本要求如下： （1）应具有适当的夹紧力和驱动力； （2）手指应具有一定的开闭范围； （3）应保证工件在手指内的夹持精度； （4）要求结构紧凑，重量轻，效率高； （5）应考虑通用性和特殊要求。 设计参数及要求如下： （1）采用手指式夹持器，执行动作为抓紧—放松； （ 2 ） 所 要 抓 紧 的 工 件 直 径 为? 80mm? 放 松 时 的 两 抓 的 最 大 距 离 为? 110-120mm/s? ，? 1s 抓紧,夹持速度 20mm/s； （3）工件的材质为 5kg，材质为 45#钢； （4）夹持器有足够的夹持力； （5）夹持器靠法兰联接在手臂上。由液压缸提供动力  关键词：机械手，夹持器，手指，液压缸。 abstract? In? the? graduation? design,?The? topic? I? choose?is? manipulator? grippers?design,?this? topic? is? designed? for? automatic? production? line? of? mechanical? grippers.? The? topics? include? mechanical? grippers? overall? design? and? calculation?? Hydraulic? transmission? system?design?and?calculation,?components?and?parts?design.? Contact?with? the? robot? manipulator,?ver y?close?to?the?development?and?application?of?the?manipulator,?greatly? promote? the? development? of? intelligent? robots.? Meanwhile,? manipulator? is? an? application? is? ver y? wide? subject,? it? almost? in? all? departments? and? disciplines? have? applications,?especially?in?the?machinery?industry?and?railway?industry.? I?designed?by?grippers?basic?requirement?as?follows:? (1)?should?have?appropriate?clamping?for ce?and?dr iving?force?? (2)?finger?should?have?certain?open?and?close?range?? (3)?should?guarantee?the?clamping?workpiece?precision?in?the?finger?? (4)?require?compact?structure,?light?weight,?high?efficiency?? (5)?should?consider?the?versatility?and?special?requests.? Design?parameters?and?requirement?as?follows:? (1)?with?finger?type?grippers,?execute?the?movements?for?grasp?- relax?? (2)?the? diameter?workpiece?must?promptly?80mm?relax?a?maximum? distance?of? two? catch?for?110-120mm/s,?1s?grasps,?gripping?speed?20mm/s?? (3)?the?workpiece?mater ial?for?5kg,?material?for ?45?#?steel?? (4)?grippers?have?enough?clamping?for ce?