摘要本毕业设计论文设计冲床上料机械手，论文包括以下内容：本文首先介绍机械手，具体有机械手概述、机械手的意义、机械手的分类、机械手应用简介，说明本次设计的意义。

然后确定设计方案，本部分介绍了本次设计的机械手的用途和规格参数以及工作原理，然后根据工作环境通过对两个方案的比较确定出设计方案，并进行了改进。52361

最后是设计计算过程，本部分包括机械手的设计计算过程和升料台的设计计算过程。机械手的设计计算过程包括齿条齿轮的设计计算、气缸的设计计算、轴的设计计算、轴承的设计计算、键的设计计算、伸长杆的设计计算、弹簧的设计计算、吸盘的设计计算。升料台的设计计算过程包括支撑轴气缸的设计计算、棘轮棘爪机构的设计计算、棘爪气缸的设计计算、螺杆校核计算、角接触轴承的校核计算、下降电机的选取。

计算后，按照标准进行CAD绘图。

毕业论文关键词   机械手      方案     计算

Abstract This paper of graduation design is about the manipulator for feeding to punch, this paper consists of follow content:

Then determining the scheme of the graduation design, this chapter introduces the action,  determines the scheme of the graduation design by comparing two expected schemes，and improve on the scheme.

Last section is the process of design and calculation. It consists of the process of design and calculation consists specifically of the process of design and calculation of manipulator and the process of design and calculation of the uplift-work machinery. The process of design and calculation of manipulator consists of the designing of rack and gear, the designing and calculating of the cylinder, the designing and calculating of the shaft, the designing and calculating of the bearing, the designing and calculating of the bond, the designing and calculating of the telescopic pole, the designing and calculating of the spring, The designing and calculating of the sucker. The process of design and calculation of the uplift-work machinery consists of the designing and calculating of the cylinder with support-shaft, the designing and calculating of the ratchet and pawl, the designing and calculating of the cylinder with pawl, the calculation of checking of the screw-pole, the designing and calculating of the bearing, choice of motor.

After calculating, drawn the picture by CAD. 

Keywords       robot        program      Automation

目　　录

第一章绪论 1

1.1课题研究 1

1.1.1选题的目的和意义 1

1.1.2国内外研究现状 2

第二章确定设计方案 3

2.1 设计方案 3

2.1.1 确定多种设计方案 3

2.1.2 选择合适的设计方案 3

2.1.3机械手概述 3

2.1.4机械手的意义 3

2.1.5机械手的分类 4

2.1.6机械手简史 4

第三章机械手的设计 5

3.1机械手的选择 5

3.1.2机械手的初步设计方案 5

3.1.2机械手的手臂结构方案设计 7

3.1.3机械手的手部结构方案设计