通用液压机械手设计

摘 要

本次设计的多功能机械手为液压通用机械手，主要由手爪、手腕、手臂、机身、机座等组成，具备上料、翻转和转位等多种功能，并按自动线的统一生产节拍和生产纲领完成以上动作。本机械手机身采用机座式，自动线围绕机座布置，其坐标形式为圆柱坐标式，具有立柱旋转、手臂伸缩、腕部转动和腕部摆动等4个自由度；驱动方式为液压驱动，利用油缸、齿轮、齿条实现直线运动；利用油缸与齿轮、齿条或链条实现回转运动。液压驱动的优点是压力高、体积小，出力大，动作平缓，并能在中间位置停止。本次设计的机械手能对不同物体完成多种动作。

关键词： 机械手；圆柱坐标；液压驱动

Abstract

The design of multi-manipulator hydraulic manipulator general, mainly by

the gripper, wrist, arm, body, base etc., with the material, flip, and a variety of functions such as translocation, in accordance with the unified automated production line beat and production program have done so. This machine adopts the base-type mobile phone, automatic wire around the base layout, its coordinates in the form of cylindrical coordinate type, with column rotation, arm stretching, wrist rotation and wrist swing and so four degrees of freedom; drive mode for the hydraulic drive, use fuel tank, gear, rack to achieve linear motion， use of tanks and gear, rack or chain to achieve rotary motion. Hydraulic drive has the advantage of high pressure, small size, contribute to a large, gentle movement and can stop in the middle. The design of the robot can complete a variety of different objects in action.

Keywords: mechanical hand; cylindrical coordinate; fluid power drive

目 录

摘 要 ............................................................................................. I Abstract .......................................................................................... II

目 录 ........................................................................................... III

第1章 绪论 .................................................................................. 1

1.1 机械手的基本概念 ............................................................ 1

1.2 机械手的发展现状及应用 ................................................. 1

1.2.1 发展现状 ................................................................... 1

1.2.2 应用 .......................................................................... 3

第2章 方案的确定 ....................................................................... 7

2.1 直角坐标型机械手 ............................................................ 8

2.2 圆柱坐标式机械手 ............................................................ 9

2.3 球坐标式机械手 ................................................................ 9

2.4 关节式机械手 ................................................................. 10

第3章 手部结构设计 ................................................................. 11

3.1 设计的原始参数 .............................................................. 11

3.2 夹持式手部结构 .............................................................. 11

3.2.1 手指的形状和分类 ................................................... 11

3.2.2 设计时考虑的几个问题 ........................................... 12

3.2.3 手部夹紧油缸的设计 ............................................... 13

第4章 手腕结构设计 ................................................................. 17

4.1 手腕的自由度 ................................................................. 17

4.2 手腕的驱动力矩的计算 ................................................... 18

4.2.1 手腕转动时所需的驱动力矩 .................................... 18

4.2.2 手腕回转油缸的驱动力矩计算................................. 21

4.2.3 手腕回转缸的尺寸及其校核 .................................... 22

第5章 手臂工作油缸的设计与计算 ............................................ 27

5.1 手臂伸缩油缸的设计与校核 ............................................ 27

5.1.2 尺寸校核 ............................................................... 27

5.1.3 导向装置 ............................................................... 33

5.1.4 平衡装置 ............................................................... 33

5.2 手臂升降油缸的设计与校核 ............................................ 33

5.2.1 尺寸设计 ................................................................. 33

5.2.2 尺寸校核 ................................................................. 33

5.3 手臂回转油缸的设计与校核 ............................................ 34

5.3.1 尺寸设计 ................................................................. 35

5.3.2 尺寸校核 ................................................................. 35

第6章 其它零部件的选择设计 ................................................... 38

6.1 油缸的密封 ..................................................................... 38

6.1.1 活塞式油缸的泄漏与密封 ........................................ 38

6.1.2 回转油缸的泄漏与密封 ........................................... 42

6.2 控制调节阀的选择 .......................................................... 44

6.3 辅助装置的选择 .............................................................. 44

6.4 液压传动机械手的缓冲与定位 ........................................ 45

结论 .............................................................................................. 47

致谢 .............................................................................................. 48

参考文献 ....................................................................................... 49

CONTENTS

Abstract ........................................................... 错误！未定义书签。

Chapter 1 Introduction .................................... 错误！未定义书签。

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