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摘要：自21世纪以来，作为高科技前沿技术之一的机器人技术发展迅猛，广泛应用于各行各业，工业上运用机器人主要进行焊接、装配、搬运、加工、喷涂、码垛等复杂作业。机器人技术是综合了计算机、控制理论、机构学、信息和传感技术、人工智能、仿生学等多学科而形成的高新技术，其应用情况标志着一个国家高科技水平和工业自动化的发展程度。19701
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目前国内全自动码垛、搬运设备主要依靠进口，国产设备生产厂家相对较少，搬运机器人技术很不成熟。而且我国人工搬运的低效率与产量的日益提高之间的矛盾日益突出，因此对搬运机器人进行研究具有很高的经济意义和现实意义。
本课题毕业论文以海绵垫为抓取对象，研究机械手在抓取、搬运系统中的应用，并根据海绵垫搬运工况设计了机械手的机械部分、传动部分。海绵垫针式抓取盘不再是传统意义上的机械手，根据海绵垫的大小设计出一个专用机械手，实现对海绵垫快速可靠的搬运。
关键词： 抓取盘；抓取钢针；气缸传动
The system design of the grasping plate for the sponge cushion
Abstract: Since twenty-first Century, robot technology develops rapidly as one of the forefront of high-technology, and robots are widely used in all walks of life. In industry, it is mainly used for welding, assembly, handling, processing, spraying, palletizing and other complex operations. Robot technology is the innovative and high technology, which combines multi-disciplinarians, such as computer, control theory, mechanism, information and sensor technology, artificial intelligence, bionics. The application of robot represents a national high-tech level and the degree of industrial automation.
At present, the domestic automatic palletizing and handling equipment mainly rely on imports, domestic equipment manufacturers is relatively few and handling robot technology is not very mature. The contradiction between low efficiency and yield increasing of our manual is prominent increasingly, therefore the research of the robot has great economic meaning and
the practical significance.Dyeing kettle diameter pipe and liquid distributor and nozzle, dye tank barrel body and the clamp using high-pressure connecting thread, and check the strength of the thread needs to check.
The system application of mechanical hand is used in moving, grasping with the sponge cushion as the object studies in this topic. Mechanical part and drive part of the robot are designed according to the sponge cushion handling condition. The grabbing plate of the sponge cushion is no longer the manipulator in the traditional sense. According to the size of the sponge cushion, design a dedicated manipulator. It can handle the sponge cushion in a rapid and reliable way.
Keywords: grasping plate；grasping needle；cylinder drive
目录
1绪论 1
1.1 机械手的背景及意义 1
1.1.1 机械手的现状 1
1.1.2 机械手的意义 1
1.2 机械手技术进展 2
1.2.1 国内研究现状 2
1.2.2 国外研究现状 4
1.2.3 海绵垫针式抓取盘系统工作原理 5
1.2.4 海绵垫针式抓取盘设计的创新点和难点 6
1.2.5 发展趋势 6
1.3 存在的问题分析 6
1.4 本课题主要任务 6
2 总方案的设计 7
2.1 设计原则 8
2.2 工况分析 8
2.2.1 工作对象简介 8
2.2.2 工作要求 9
2.3 机械手的组成 9
2.3.1 执行机构 9
2.3.2 驱动机构 10
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