铸造搬运机械手夹持结构设计.docVIP

PAGE PAGE II PAGE II PAGE II PAGE PAGE I 本科毕业设计(论文) 题目：铸造生产线搬运机械手夹持结构设计 铸造生产线搬运机械手夹持结构设计 摘 要 机械手夹持器，它具有夹持物件和剪切缆索的双重功能，适用于有这两种功能需要的机械手。此类型机械手也特别适用于铸造工厂生产线的作业，能减少人工作业，提高生产效率。本实用新型夹持器是在一种普通的机械手伸缩臂上连接自重式夹持器，当手掌闭合运动时，手指作收缩运动，达到抓取工件的动作。 本文采用手指式夹持器，执行动作为抓紧-放松，所要抓紧工件的范围为：1100（长）*1500（宽）*700（高）mm，抓重为300kg，材质为45#钢。主要研究内容是分析机械手夹持器的原理；确定夹持器总体方案；完成驱动结构的设计方案；对总体结构设计、主要部件的受力分析和强度校核；对驱动结构设计方案，原理图，整体结构装配图的设计。 关键词：机械手；夹持器；装配图 Design for Clamping Structure of Handing Manipulator in Casting Production Abstract The mechanical arm gripping device, it has a clamping objects and shear cable dual function, applicable to the two functions required mechanical hand, is particularly suitable for underwater manipulator, can smoothly operate under water. The utility model is in a common mechanical hand gripper arm mounted on a pair of cutting blades, when the palm is closed when in motion, the blade shearing movement, achieve in the clamping while completing a shearing action. This paper uses the finger gripper, performing as Clutch - relax to hold the workpiece diameter of 1100（a）*1500（b）*700（h）mm relaxation time . the workpiece maximum weight is 300kg, materials for the 45# steel. The main research content is the analysis of manipulator gripper principle; determine the gripper and the telescopic arm to complete the drive scheme; structure design; the overall structure design, the main components of the stress analysis and strength check; to drive structure design, schematic diagram, the overall structure of the design of assembly drawing. Keywords: manipulator; gripper; assembly drawing PAGE PAGE IV PAGE IV PAGE IV PAGE PAGE III 目 录 TOC \o 1-3 \h \z \u 1绪论 1 1.1 课题研究的目的和意义 1 1.2 机械手发展前景 3 1.3 本课题的研究内容 3 2 机械手夹持器的总体方案设计 5 2.1工况分析 5 2.1.1 夹持器结构方案比较 5 2.1.2 机械手驱动方案的比较 6 2.1.3 机械传动系统的分析比较 8 2.2夹持器设计要求 9 2.3影响平稳性和定位精度的因素 10 3机构及参数计算 12 3.1液压缸的选择 12 3.1.1 夹紧力计算 12 3.1.2 驱动力计算 12 3.1.3 液压缸的设计与计算 13 3.1