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洛阳理工学院毕业设计（论文）

圆 柱 坐 标 式 机 械 手

摘 要

本毕业设计设计了圆柱坐标式机械手，该机构可实现两个直线方向和一个旋转方向的运动。在控制器的作用下，它可以完成将工件从一条流水线拿到另一条流水线这一简单的动作。在设计过程中，机械手部选用了移动式齿轮齿条手部来实现对工件的夹取；两个直线运动均采用液压驱动，包括横梁液压缸水平方向的移动和升降液压缸垂直运动；旋转运动采用齿轮齿条的结构形式，通过对齿条的驱动实现立柱的回转运动。通过上述三种机构的运动可以精确定位工件位置，然后机械手进行夹取，最后可以根据要求进行工件的转移。该结构实现简单,且整体结构紧凑，可以代替人手的繁重劳动，显著减轻工人的劳动强度，改善劳动条件，提高劳动生产率和自动化水平。

关键词： 圆柱坐标，工业机器人，机械手

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洛阳理工学院毕业设计（论文）

CYLINDRICAL COORDINATE ROBOT

ABSTRACT

This graduation design design the cylinder sit mark type machine hand, should organization can realization two straight line direction and 1 revolve direction of sport.Under the function of the controller, it can the completion get hold of a work piece another flowing water line this action that is simple from a flowing water line.In the design process, the machine hand chose to use to move the type wheel gear Chi a hand to clip work piece to take to the realization;Two straight line sport all adoption the liquid press to drive and include a horizontal beam liquid to press an urn of level direction of move and ascend and descend the liquid press an urn perpendicular sport; Revolve sport adoption wheel gear Chi the structure form of, pass to drive Chi realization to sign turn round of pillar sport. Pass three above-mentioned kinds of organization of sport can precision fixed position work piece position, then the machine hand carry on clipping to take, end can according to request carry on a transfer of work piece.Should structure realization simple, and whole structure tightly packed, can replace hand of heavy labor, show Zhao to ease a worker of labor strength, improvement labor condition, exaltation labor rate of production and automation level.

KEY WORDS: Cylindrical coordinate, Industrial robot, Manipulator

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洛阳理工学院毕业设计（论文）

目 录

前 言 ................................................................................................ 1 第1章 总体设计方案 ....................................................................... 6

1.1总体设计的思路 .................................................................... 6 1.2总体方案的确定 .................................................................... 6 1.3机械手的组成 ........................................................................ 7 1.4机械手的坐标形式 ................................................................ 8 1.5机械手的主要参数 ................................................................ 9 第2章 机械手相关的设计与计算 ................................................. 11

2.1手指的相关设计与计算 ...................................................... 11

2.1.1手指夹紧力的计算 .................................................... 11 2.1.2手部液压缸的选取 .................................................... 13 2.1.3水平伸缩缸尺寸计算 ................................................ 15 2.1.4升降液压缸主要参数的确定 ..................................... 16 2.2立柱与底座的设计 .............................................................. 19 第3章 相关的校核 ....................................................................... 20

3.1手爪扇形齿轮与齿条强度校核 ........................................... 20 结 论 .............................................................................................. 21 谢 辞 ................................................................................................ 22 参考文献 .......................................................................................... 23 外文资料翻译 .................................................................................. 24

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