机械毕业设计(论文)-(四自由度)自动线通用多关节机械手设计(液压)-工业机械手(含全套图纸).doc

自动线通用多关节机械手设计 摘 要：工业机械手是工业生产的必然产物，它是一种模仿人体上肢的部分功能，按照预定要求输送工件或握持工具进行操作的自动化技术设备，对实现工业生产自动化，推动工业生产的进一步发展起着重要作用。因而具有强大的生命力受到人们的广泛重视和欢迎。实践证明，工业机械手可以代替人手的繁重劳动，显著减轻工人的劳动强度，改善劳动条件，提高劳动生产率和自动化水平。工业生产中经常出现的笨重工件的搬运和长期频繁、单调的操作，采用机械手是有效的。此外，它能在高温、低温、深水、宇宙、放射性和其他有毒、污染环境条件下进行操作，更显示其优越性，有着广阔的发展前途。液压机械手具有快速、高效等优点。该机械手采用液压驱动，控制手臂的伸缩、手腕的回转和手部的抓放运动，上下运动由电机控制[1]。 关键词：工业；机械手；液压； Design of the manipulator General Multi-joint for production line Student:Li Xuejiao Tutor:Chen Wenkai （Oriental Science ＆Technology College of Hunan Agricultural University, Changsha Abstract：Industrial machinery hand is the inevitable product of industrial production, it is a copy of the upper part of the human body functions,it is accordance with the scheduled transfer request or the work piece hold the tools to operate the equipment automation technology, industrial automation, and promote the further development of industrial production from the An important role. So they have strong vitality of the people by the extensive attention and welcome. Practice has proved that the industrial robot can replace the staff of the heavy labor, significantly reduced labor intensity of workers and improve working conditions, improve labor productivity and the level of automation. Industrial production in the often cumbersome work piece handling and frequent long-term, monotonous operation, a mechanical hand to be effective. In addition, it can at high temperature, low temperature, Sham Shum Po, the universe, radioactive and other toxic and pollution of the environment under the conditions of operation, but also show its superiority, there are broad development prospects. Hydraulic manipulator is fast, efficient, and other advantages. The mechanical hand used hydraulic drive, control the telescopic arm, wrist and hand the rotary-grasping movement, movement from top to bottom by motor control. Key words:Industry;Manipulator; Hydraulic; 1 前言 工业机械手是工业生产的必然产物，它是一种模仿人体上肢的部分功能，按照