圆柱坐标式机械手设计概述.docVIP

圆 柱 坐 标 式 机 械 手 摘 要 本毕业设计设计了圆柱坐标式机械手，该机构可实现两个直线方向和一个旋转方向的运动。在控制器的作用下，它可以完成将工件从一条流水线拿到另一条流水线这一简单的动作。在设计过程中，机械手部选用了移动式齿轮齿条手部来实现对工件的夹取；两个直线运动均采用液压驱动，包括横梁液压缸水平方向的移动和升降液压缸垂直运动；旋转运动采用齿轮齿条的结构形式，通过对齿条的驱动实现立柱的回转运动。通过上述三种机构的运动可以精确定位工件位置，然后机械手进行夹取，最后可以根据要求进行工件的转移。该结构实现简单,且整体结构紧凑，可以代替人手的繁重劳动，显著减轻工人的劳动强度，改善劳动条件，提高劳动生产率和自动化水平。 关键词： 圆柱坐标，工业机器人，机械手 CYLINDRICAL COORDINATE ROBOT ABSTRACT This graduation design design the cylinder sit mark type machine hand, should organization can realization two straight line direction and 1 revolve direction of sport.Under the function of the controller, it can the completion get hold of a work piece another flowing water line this action that is simple from a flowing water line.In the design process, the machine hand chose to use to move the type wheel gear Chi a hand to clip work piece to take to the realization;Two straight line sport all adoption the liquid press to drive and include a horizontal beam liquid to press an urn of level direction of move and ascend and descend the liquid press an urn perpendicular sport; Revolve sport adoption wheel gear Chi the structure form of, pass to drive Chi realization to sign turn round of pillar sport. Pass three above-mentioned kinds of organization of sport can precision fixed position work piece position, then the machine hand carry on clipping to take, end can according to request carry on a transfer of work piece.Should structure realization simple, and whole structure tightly packed, can replace hand of heavy labor, show Zhao to ease a worker of labor strength, improvement labor condition, exaltation labor rate of production and automation level. KEY WORDS: Cylindrical coordinate, Industrial robot, Manipulator 目　录 TOC \o 1-3 \h \z \u HYPERLINK \l _Toc263841293 前　言 PAGEREF _Toc263841293 \h 1 HYPERLINK \l _Toc263841294 第1章 总体设计方案 PAGEREF _Toc263841294 \h 9 HYPERLINK \l _Toc263841295 1.1总体设计的思路 PAGEREF _Toc263841295 \h 9 HYPERLINK \l _Toc263841296 1.2总体方案的确定 PAGEREF _Toc263841296 \h 10 HY