回形偏交型手腕和斜楔式夹持器设计.docVIP

回形偏交型手腕及斜楔式夹持器的设计 摘 要 本文的设计是回形偏交型手腕与斜楔式夹持器。本文首先对工业机器人的概况以及结构进行了介绍。工业机器人自本世纪60年代问世以来，在世界各国生产线上代替工人完成一系列复杂危险的动作。有着不可替代的作用。其一般由基座、腰部、臂部、腕部和手部五部分组成。然后根据设计要求，本文制定了一个由液压马达控制夹爪松开，以弹簧恢复力夹紧物体的设计方案。本方案对夹持器以及腕部进行了结构设计，同时对其主要零部件进行了选择、受力分析、设计、计算和校核。其主要内容包括：电动机和液压马达的选择计算，弹簧的设计计算，带和带轮的设计计算，齿轮、轴的设计计算和校核。本方案还对设备的可靠性、使用寿命以及设备的经济评价进行了分析。最后简单的阐述了此次设计过程中存在的问题。通过分析计算可以得出结论，此次设计基本满足设计要求。 关键词：手腕；工业机器人；夹持器；操作机 The wrist enjambment eccentric and carves the type screw clamp slanting design Abstract This article designs is the wrist enjambment eccentric and carves the type screw clamp slanting. Firstly, an overview of the industrial robot and structure were introduced. Industrial robot since the advent of the 1960s, instead of workers to complete a series of complex and dangerous action in the world production line. Plays an irreplaceable role. Generally five parts of the base, waist, arm, wrist and hand. Then, according to the design requirements, to develop a hydraulic motor to control the gripper release and the spring force clamping the object of design. This program on the gripper and wrist was structural design, and its major components were selected, force analysis, design, calculation and verification. Its main contents include: the selection and calculation of the electric motor and hydraulic motor, spring design calculations, design calculations of the belt and pulley, gear, shaft design calculation and verification. The program also analyzed the equipment reliability, service life and economic evaluation. Finally a simple exposition of the problems in the design process. By analyzing the calculation can be concluded that the basic design to meet the design requirements. Key words : wrist； Industrial robot；Gripper ；End effector 目 录 TOC \o 1-3 \h \z \u HYPERLINK \l _Toc324801090 摘 要 PAGEREF _Toc324801090 \h I HYPERLINK \l _Toc324801091 Abstract PAGEREF _Toc324801091 \h II HYPERLINK \l _Toc324801092 1 绪论 PAGEREF _Toc324801092 \h 1 HYPERLINK \l _Toc324801093 1.1 工业机器人的概