摘要 现在的工业世界中，机床工业对于每一个国家来说都是重要的基石。随着经济的快速发展，传统的制造业已经难以满足人们的生产生活需求，因此，具有自动化线的制造业逐渐出现在人们的生产生活中。繁重劳动被自动化生产线取代了，减少了工作压力，生产的效率大大提升。自动化生产方式在现代制造业中的使用是非常高效的，而本文就此设计了一种自动上下料机构上料及料台结构设计。36034
本文首先介绍了数控机床的概念，之后介绍了跟自动上下料上料机构有关的一些概念，接着对上料机械手的组成和分类进行了介绍，机械手的自由度和座标形式，驱动方式等内容，决定了机械手的座标形式，自由度及驱动方案。再之后分别对机械手的夹持式手部结构进行了设计，并对其各部分的驱动液压缸做了计算确定了液压缸的内径，外径，及活塞杆的直径。最后介绍了料台的结构设计和驱动方式等。
毕业论文关键字：机械手，AutoCAD，料台，结构设计，自由度
Abstract With the needs of the development of industrial automation , robots are more and more important in industrial applications .Industrial robots can replace manpower heavy labor , significantly reduced labor intensity of workers, improve labor productivity and the level of automation .It solves the handling of heavy artifacts often appears in industrial production and frequent, monotonous operation for a long time, but also improves the production speed of workpiece, so the use of the manipulator is very efficient, and to a feeding manipulator is designed in this paper.
This paper first introduces the concept of industrial robots, composition and classification of the manipulator, the degrees of freedom of the manipulator and the coordinates form, drive mode, etc.Then according to the technology of the manipulator overall design parameters on the manipulator was carried out, determine the coordinates of the manipulator type and degree of freedom and drive solutions.After that the holding type hand structure of the manipulator is designed, the structure of manipulator wrist wrist rotation structure, lifting structure and the structure of rotary manipulator waist, and the driving hydraulic cylinder of each part to do the calculation to determine the hydraulic cylinder inner diameter, outer diameter, and the diameter of the piston rod. Finally made related to the hydraulic system is introduced and the hydraulic system to do the simple design of the manipulator.
Keywords: mechanical hand,；degree of freedom；the structure design；hydraulic
目录 2
摘要 3
Astract 4
第一章 绪论 5
1.1 课题的来源及意义 5
1.2 机械手的分类 5
1.3 机械手的组成 7
1.4 机械手的现状 10
1.5工业机械手在生产中的应用 12
1.6 国内外发展状况 12
第二章 数控车床自动上料机构及料台结构设计方案 14
2.1 机械手的系统工作原理及组成 14
2.2 机械手的座标型式与自由度 14
2.3本课题的研究目标、内容及研究方法 14
2.4 方案论证 14
2.4 .1液压结构 14
2.4.2纯机电结构 15
2.6本课题的内容和要求 16
2.7自动料台方案 16
第三章 机械手参数设计 18
3.1原始设计参数 18
3.2 夹持式手部结构 18
3.2.1手指的形状和分类 18
3.2.2设计时考虑的几个问题 18 数控车床自动上料机构及料台结构设计+CAD图纸:http://www.751com.cn/jixie/lunwen_34327.html