上料机械手结构机械CAD图纸设计.doc

沈阳化工大学科亚学院 本科毕业论文 题 目： 上料机械手结构设计 专 业： 班 级： 学生姓名： 指导教师： 论文提交日期： 论文答辩日期：  摘要 工业机械手是近十几年，，它的特点是可通过来完成各种预期的作业任务，构造和性能上，尤其体现了人的智能和适应性，，在，工业自动化的发展，出现了数控加工中心，它在减轻工人的劳动强度的同时，大大了劳动生产率，但数控加工中常见的上料工序，采用人工操作或传统继电器控制的半自动化装置，前者、、后者因，需继电器，，，而存在、故障、维修等问题，可编程序器PLC控制的上下料机械手控制系统动作、线路合理、强的抗干扰能力，保证了系统运行的可靠性，降低了维修率，提高了工作效率。机械手技术涉及到力学、机械学、电气液压技术、自动控制技术、传感器技术和计算机技术等，是一门跨学科技术。 设计一台机械手，用于。通过对机械手各主要组成部分（手部、手腕、手臂和机身等）分析，从而确定各主要组成部分的结构，在此基础上对机械手进行设计计算，从而确定装配总图。 关键词: 机械手; 设计； 手部; 手臂； 机身； 结构 Abstract Industrial manipulator is nearly 10 years emerging development of a high-tech industry, its development is by leaps and bounds, the rapid development of robots reflected the progress of the industrial robot, its characteristic is by editing the homework tasks to complete various expected good programs, to have both humans and machines on structure and performance of their respective advantages and unique, especially reflects peoples intelligence and adaptability, the hardiness of the machine and the ability to not hazardous, in each big development prospects in the field of a clear, with the development of industrial automation, CNC machining center, it while reduce the labor intensity of workers, sublimate the labor productivity greatly, but common loading during the n c machining process, habitual use manual or semi-automatic device of traditional relay control, time-consuming, low efficiency, while the latter because of the complexity of the structure, need a lot of relay, compare the complex wiring, easy to interference by body shaking, and there are more unreliability, prone to failure, it is not convenient to maintenance, PLC programmable control device control lines of manipulator control system is up and down movement of simple and easy, have very strong anti-interference ability, reasonable arrangement, ensure the reliability of the system operation, reduce the maintenance rate, improve the working efficiency. Manipu