毕业设计（论文）-吸盘式板材搬运工业机器人设计.doc

毕业设计 题 目 学 院 专 业 班 级 学 生 学 号 指导教师 二〇一 一年月日摘 要 本次设计的机械手是为了实现玻璃的装卸搬运。考虑到玻璃的材质及形状，采用真空吸盘装置来完成玻璃的抓取，通过液压缸来实现各个动作要求，包括腕部回转油缸，手臂伸缩油缸，机身升降油缸以及控制整机回转的液压缸。通过真空吸盘装置抓取玻璃，机身升降油缸上升，然后手臂伸缩油缸移动到相应位置，经过机身回转一定角度完成玻璃搬运，最后腕部回转一定角度经由真空吸盘装置卸下玻璃即完成了整个过程。这种机械手代替人工完成了像玻璃这类易碎物件的装卸搬运，实现连续运转工作。 关键词：机械手；真空吸盘；液压缸 全套图纸，加 ABSTRACT The design of the manipulator is to achieve the glass handling operations. Taking into account the material and shape the glass, using vacuum suction device to complete the capture of glass, through the hydraulic cylinder to achieve the requirements of the various actions, including the wrist rotating cylinders, telescopic arm, cylinder, lift cylinder and the control of whole body rotation hydraulic cylinder. Crawl through the glass vacuum suction device, increased body lift cylinder, telescopic cylinders and then moving the arm into place, after completion of body rotation angle to the glass handling, the final angle of wrist rotation through the vacuum suction device is complete remove the glass the whole process. The completed robot instead of human Fragile objects such as glass Handling, achieve to working continuous operation. Key words： Manipulator; vacuum suction; hydraulic cylinder 目 录 摘要………………..………………………………………………………………….I ABSTRACT………….………………….….……………………..…...………….II 1 前言……….…………………………………………….….……………………………..1 1.1机械手概述…………..........................………….………….………..1 1.2工业机械手的国内外现状……………….........………...........................1 1.3机械手的组成和分类......................………………….............……..……2 1.3.1机械手的组成....................………………………….…....…….2 1.3.2机械手的分类. ....................………………………….…....…….4 2总体方案设计....................……..….………………….……………….…..….………….5 2.1 机械手的坐标形式和自由度………………………………..…………………..3 2.2机械手各个部分的设计……………………………………...………………..4 2.3 各部分的主要数据…….…………..………………….…………………………...4 3真空吸盘数量的确定……………………...………………….…………………………...6 4腕部设计计算……………………………...………………………...…………………...8 4.1腕