轴承座自动上下料机械手结构设计【毕业论文+CAD图纸全套】.doc

摘 要UG软件对机械手进行了三维模型的建立和装配。通过以上各部分的工作,得出了经济、操作简单、运行稳定的上下料机械手设计方案。 关键词：机械手；增倍机构；液压驱动；UG Abstract Robots are now widely used in industrial and agricultural production to increase labor productivity and reduce production costs. In this paper on the basis of existing research and development status of manipulator, bearing is analyzed in detail and the function of the manipulator, and combined with bearing fluctuation manipulator in the actual production needs, structure of loading manipulator design. In this paper, the analysis of the up-down material performance requirements and the work characteristics of the manipulator, the mechanical structure of the manipulator, the structure of the driving system and transmission has carried on the overall scheme design. It is determined that the manipulator adopts the mechanical structure of cylindrical coordinate system and adopts hydraulic driver. The movement of this manipulator has three basic forms of rotation, lift and translation. On this basis, the manipulator actuators for the calculation and design, on the stroke of each driving element, positioning, cylinder diameter and buffer mode has carried on the design, and using the UG software to manipulator for 3 d modeling and assembly. Through the above work, we have obtained the economical, simple operation and stable operation of the mechanical hand design. Keywords: manipulator; Hydraulic pressure; UG 目录 1 绪论 5 2 轴承座自动上下料机构的总体设计 7 3 机械手的具体设计 8 3.1 手部的设计 8 3.1.1 类型选择 8 3.1.2 手指夹紧力的计算 8 3.1.3 手部驱动力的计算 8 3.1.4 校核手部结构的强度 9 3.2 臂部的设计 11 3.2.1 夹紧缸的设计 12 3.2.2 升降缸的设计 18 3.2.3 摆转缸的设计 22 3.2.4 滑板的设计 25 3.3 机身各部分的设计 27 3.3.1 移动缸的设计 27 3.3.2 齿轮轴的设计 30 3.3.3 导轨的设计 34 4 机械手的液压传动系统设计 37 4.1 设计参数的提出 38 4.1.1 机械手的动作顺序的确定 38 4.1.2 主要设计参数的确定 38 4.2 液压系统的工作压力和流量的确定 39 4.2.1 移动缸的工作压力和流量的确定 39 4.2.2 夹紧缸的工作压力和流量的确定 42 4.2.3 升降缸的工作压力和流量的确定 43 4.2.4 摆转缸的工作压力和流量的确定 44 4.3 拟定液压系统工作原理图 47 4.4 设计或选择液压元件和辅助液压装置 48 4.4.1 液压泵的选择 48 4.4.2 选择控制元件 49 4.4.3 辅助装置的选择 50 4.4.4 验