本科畢業(yè)設(shè)計(jì)（論文）設(shè)計(jì)題目：沖床上料機(jī)械手設(shè)計(jì)系別機(jī)電信息系專業(yè)機(jī)械設(shè)計(jì)制造及其自動(dòng)化班級(jí)姓名學(xué)號(hào)導(dǎo)師2013年4月30日沖床上料機(jī)械手設(shè)計(jì)摘要機(jī)械手是模仿著人手的部分動(dòng)作，按給定程序、軌跡實(shí)現(xiàn)自動(dòng)抓取、搬運(yùn)和操作的自動(dòng)機(jī)械裝置。在工業(yè)生產(chǎn)中應(yīng)用的機(jī)械手被稱為“工業(yè)機(jī)械手”。本次設(shè)計(jì)的60噸沖床上料機(jī)械手根據(jù)規(guī)定的動(dòng)作順序，完成對(duì)機(jī)械手的設(shè)計(jì)，對(duì)機(jī)械手的工作原理，結(jié)構(gòu)使用范圍，特點(diǎn)參數(shù)選擇等方面進(jìn)行了闡述。此60噸沖床上料機(jī)械手主要是給沖床進(jìn)行上料和從儲(chǔ)料框中取料；機(jī)械手的抓重1Kg；1個(gè)自由度三個(gè)具體動(dòng)作，自由度為腰座的轉(zhuǎn)動(dòng),采用圓柱坐標(biāo)；其余兩個(gè)動(dòng)作為機(jī)械手的升降和伸縮，采用螺母和螺栓調(diào)節(jié)，可根據(jù)生產(chǎn)的需要改變機(jī)械手手臂的高度和長(zhǎng)度以及更換吸盤?；剞D(zhuǎn)角度：60度；送料頻率：50-60次/分；驅(qū)動(dòng)方式為氣壓傳動(dòng)；機(jī)械手的腰座回轉(zhuǎn)采用氣缸帶動(dòng)齒條齒輪驅(qū)動(dòng)；本設(shè)計(jì)主要對(duì)手部進(jìn)行了設(shè)計(jì)和計(jì)算，腰座回轉(zhuǎn)采用回轉(zhuǎn)氣缸。關(guān)鍵詞：上料機(jī)械手；沖床上料；氣壓傳動(dòng)DesignforthepunchmanipulatorAbstractManipulatorisimitatethepartofthehand,accordingtothegivenprogram,trackandforautomaticmechanicaldevicetorealizetheacquirement,handlingandoperationofthe.Themanipulatorusedintheindustrialproductioniscalledindustrialmanipulator.60tonspunchthedesignofthemanipulatoraccordingtotheprovisionsoftheactionsequence,completethedesignofmanipulator,theworkingprincipleofthemanipulator,theuserangestructure,givesthecharacteristicparameters.This60tonspunchmanipulatorismainlytopressforfeedingandfromthematerialstorageboxmaterial；mechanicalhandcatchweight1Kg；1degreesoffreedomthreespecificactions,degreesoffreedomforrotationwaistseat,usingcylindricalcoordinates；theremainingtwoofthemechanicalhandmovementsandtheexpansion,thenutandboltadjustment,accordingtoproductionneedstochangethemechanicalarmheightandlengthandreplacingchuck.Becausetherotaryangle:60degrees；thefeedingfrequency:50-60times/points；drivemodeforpneumaticdrive；waistseatrotarymanipulatorcylinderisusedtodrivearackgeardrive；thedesignofthemainpartofthedesignandcalculation,waist,rotatingtherotarycylinder.KeyWords：feedingmanipulator；punchfeeding；pneumatictransmissionI目錄1緒論.11.1機(jī)械手簡(jiǎn)介.11.2機(jī)械手發(fā)展現(xiàn)狀及應(yīng)用.11.2.1國(guó)內(nèi)外發(fā)展現(xiàn)狀.11.2.2機(jī)械手的應(yīng)用.42機(jī)械手的總體設(shè)計(jì).72.1機(jī)械手的總體結(jié)構(gòu).72.1.1機(jī)械手組成.72.1.2機(jī)械手坐標(biāo)形式的確定.92.1.3上料機(jī)械手的組成及工作原理.92.2機(jī)械手腰座結(jié)構(gòu)的設(shè)計(jì).112.1.1機(jī)械手的驅(qū)動(dòng)系統(tǒng)的確定.122.1.2機(jī)械手的機(jī)械傳動(dòng)機(jī)構(gòu)的確定.152.3機(jī)械手手臂的結(jié)構(gòu)設(shè)計(jì).172.4機(jī)械手手部的結(jié)構(gòu)設(shè)計(jì).193機(jī)械手理論分析和設(shè)計(jì)計(jì)算.213.1系統(tǒng)設(shè)計(jì)計(jì)算.213.1.1確定氣壓系統(tǒng)基本方案.213.1.2氣壓缸的總機(jī)械載荷的計(jì)算.223.1.3氣缸強(qiáng)度的