轴套类零件自动上下料机构设计.doc

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