搬用机械手及其液压系统控制设计.doc

摘 要 本设计研究的内容是设计出一款适合于工业生产线上搬运的机械手，解决一些因场地小不适合用传送带场合或者两条传送带间的搬运问题。随着电子技术、控制技术和传感技术在机械手上运用，机械手具有的功能也越来越多，在各个领域得到广泛运用。在工业搬运领域，应用较多的是堆垛机械手，另外还有就是传送带搬运机械手。 本设计是为了满足生产线搬运要求而设计一种三自由度搬运机械手，并根据相关设计标准设计出机械手的手部结构、液压缸结构和液压系统，然后用CAD2007画出工程图，并检查是否有设计错误，并写好设计论文。 本设计是设计用于搬运作业的机械手，相比于同类型机械手而言，结构简单，抓重较大，属于典型的液压搬运机械手，另外就是机械手采用圆柱坐标型结构，具有占地面积小，易于在空间有限的地方作业。 关键词：机械手；液压系统；结构设计 The structure of the carrying manipulator and hydraulic system design Student:TANG Yun Teacher:SUN Jin-rong Abstract：The content of this design research is designed a manipulator, suitable for industrial production line handling small res solve some due between two conveyor belt conveyor belt occasions or handling problem. As the electronic technology, control technology and sensor technology used in mechanical hand, the function of the manipulator has more and more, widely used in various fields. Application in the field of industrial handling, more is stacking manipulator, and another is a conveyor belt carrying manipulator. This design is to meet the production line handling requirements and design a three degrees of freedom carrying manipulator, according to relevant design standards and design of the manipulator hand structure, the structure of the hydraulic cylinder and hydraulic system, and then in 2007 to draw the engineering drawing, cad design and check for errors, and write the design paper. This design is designed for handling operations of the manipulator, compared to the same type manipulator, simple structure, grasp the weight is bigger, belongs to the typical hydraulic carrying manipulator, the other is the manipulator with cylindrical coordinates type structure, cover an area of an area small, easy to operation where space is limited. Key words: Manipulator; The hydraulic system; The structure design 目次 摘 要 I Abstract： II 1 绪论 1 1.1 本设计的研究背景和意义 1 1.2 机械手的定义 1 1.2.1执行机构 1 1.2.2 驱动机构 2 1.2.3 控制系统 2 1.3 机械手的分类 3 1.3.1按驱动方式可分为液压式、气动式、电动式、机械式机械手 3 1.3.2按适用范围可分为专用机械手和通用机械手两