磁吸式搬运机械手设计+CAD图纸
关键词：机械手； 液压； PLC；球坐标
Magnetic Suction Type Manipulator
Abstract: Manipulator is the nineteen fifties, with electronic technology, especially the wide application of electronic computers, a new technique developed rapidly. It combines the application of mechanical, electronic, automatic control and other advanced technology and physics, realize the organic combination of mechanization and automation of the basic knowledge of biological sciences. This design is to design magnetic manipulator for the purpose, structure design and motion design respectively through each of manipulator's hand, the wrist, arm and other parts, control mode using the motor and hydraulic combined to realize ball coordinate manipulator. Considering the structure and cost, body rotation, driven by motor, pitch and wrist rotation of the large arm is driven by motor to realize the harmonic gear drive, rotary, telescopic small arm hydraulic implementation, which uses the electric motor and hydraulic transmission combination, make high precision, simple structure, small volume. So to carry out work in industry, can make the labor intensity greatly reduced.
Keywords: manipulator; hydraulic; PLC; Spherical coordinate
目 录
1 绪论 1
1.1 机械手的背景 1
1.2 机械手的现状 1
1.2.1 机械手的组成 1
1.2.2 机械手的分类 2
1.2.3 机械手的应用 3
1.3 发展趋势 3
2 总体方案分析 5
2.1 总体方案分析 5
2.2 方案的确定 5
2.3 动作原理 5
2.4 工业机械手的传动方案设计 5
2.4.1 2.4.1 传动方案设计 5
2.4.2 工业机械手主要技术参数 6
3 主要零部件的设计 7
3.1 手部的设计 7
3.1.1 选择手抓的类型 7
3.1.2 手抓的力学分析 7
3.2 腕部的设计 8
3.2.1 腕部设计基本要求 8
3.2.2 腕部结构的选择 8
3.3 手臂的设计 9
3.3.1 机械手臂部设计的基本要求 9
3.3.2 手臂的典型机构以及结构的选择 10
3.3.3 手臂伸缩驱动力计算 10
3.3.4 手臂伸缩油缸结构的确定 12
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