四自由度通用液压机械手设计

I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IIAbstractThedesignofmulti-manipulatorhydraulicmanipulatorgeneral,mainlybythegripper,wrist,arm,body,baseetc.,withthematerial,flip,andavarietyoffunctionssuchastranslocation,inaccordancewiththeunifiedautomatedproductionlinebeatandproductionprogramhavedoneso.Thismachineadoptsthebase-typemobilephone,automaticwirearoundthebaselayout,itscoordinatesintheformofcylindricalcoordinatetype,withcolumnrotation,armstretching,wristrotationandwristswingandsofourdegreesoffreedom;drivemodeforthehydraulicdrive,usefueltank,gear,racktoachievelinearmotion，useoftanksandgear,rackorchaintoachieverotarymotion.Hydraulicdrivehastheadvantageofhighpressure,smallsize,contributetoalarge,gentlemovementandcanstopinthemiddle.Thedesignoftherobotcancompleteavarietyofdifferentobjectsinaction.Keywords:mechanicalhand;cylindricalcoordinate;fluidpowerdriveIII目录摘要.............................................................................................IAbstract..........................................................................................II目录...........................................................................................III第1章绪论..................................................................................11.1机械手的基本概念............................................................11.2机械手的发展现状及应用.................................................11.2.1发展现状...................................................................11.2.2应用..........................................................................3第2章方案的确定.......................................................................72.1直角坐标型机械手............................................................82.2圆柱坐标式机械手............................................................92.3球坐标式机械手................................................................92.4关节式机械手.................................................................10第3章手部结构设计.................................................................113.1设计的原始参数..............................................................113.2夹持式手部结构..............................................................113.2.1手指的形状和分类...................................................113.2.2设计时考虑的几个问题...........................................123.2.3手部夹紧油缸的设计...............................................13第4章手腕结构设计.................................................................174.1手腕的自由度.................................................................174.2手腕的驱动力矩的计算...................................................184.2.1手腕转动时所需的驱动力矩....................................184.2.2手腕回转油缸的驱动力矩计算.................................214.2.3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............................................275.1手臂伸缩油缸的设计与校核............................................275.1.2尺寸校核...............................................................275.1.3导向装置...............................................................33IV5.1.4平衡装置...............................................................335.2手臂升降油缸的设计与校核............................................335.2.1尺寸设计.................................................................335.2.2尺寸校核.................................................................335.3手臂回转油缸的设计与校核............................................345.3.1尺寸设计.................................................................355.3.2尺寸校核.................................................................35第6章其它零部件的选择设计...................................................386.1油缸的密封.....................................................................386.1.1活塞式油缸的泄漏与密封........................................386.1.2回转油缸的泄漏与密封...........................................426.2控制调节阀的选择..........................................................446.3辅助装置的选择..............................................................446.4液压传动机械手的缓冲与定位........................................45结论..............................................................................................47致谢..............................................................................................48参考文献.......................................................................................49VCONTENTSAbstract.............................................................错误!未定义书签。Chapter1Introduction......................................错误!未定义书签。1.1Thebasicconceptofarobot..................错误!未定义书签。1.2ManipulatorDevelopmentandApplication错误!未定义书签。1.2.1DevelopmentStatus........................错误!未定义书签。1.2.2Application.................................错误!未定义书签。Chapter2programtodetermine........................错误!未定义书签。2.1Cartesiancoordinatetyperobot.............错误!未定义书签。2.2Cylindricalcoordinatemanipulator........错误!未定义书签。2