1、 I 摘要摘要 本文所设计的工业机械手用于搬运工件，工件总重 30Kg,长 50cm,宽 30cm，高 20cm，臂总长为 1.8m。为了增加本机械手的通用性，在结构尽 可能紧凑的情况下，最大限度地使工业机械手具有较大的抓取范围。 本文主要介绍了工业机械手的概念、组成和分类，机械手的自由度 和坐标形式、运动及国内外的发展状况。对工业机械手进行总体方案设 计，首先确定了机械手的坐标形式为圆柱坐标型，自由度数为5，接着确 定了机械手的驱动装置为液压缸，然后确定了机械手的主要技术参数。 同时，设计了机械手的手部结构形式为滑槽杠杆式钳爪、手腕的结构形 式为采用电机带动腕回转、臂部结构形式采用双导向杆导
2、向，机身结构 形式为升降缸置于回转缸之上的结构形式，计算出了夹紧工件所需的驱 动力、手腕转动时所需的驱动力矩、手臂伸缩所需的驱动力、手臂俯仰 所需的驱动力、手臂升降所需的驱动力和手臂回转所需的驱动力矩。继 而设计了工业机械手的各个部分液压缸的尺寸和结构及各个部分之间连 接与支承部件的结构与尺寸。 关键词：工业机械手，液压驱动，液压缸。 II AbstractAbstract The design of the industrial robot used for carrying workpieces, workpiece, gross weight, wide 30Kg 30cm long c
3、entimeters high, chief of 1.8 20cm m. In order to increase the generality of the manipulator, as far as possible in the structure is compact, under the situation of utmost ground to industrial robots have larger grab range. This design of introduces the concept of industrial robots, composition and
4、classification of the manipulator, freedom and coordinates, sports and the development at home and abroad. For industrial robots are overall design of manipulator, the first identified for cylindrical coordinates coordinates type, free degree, then determined for five of the manipulator device drive
5、rs for the hydraulic cylinder, then determines the main technical parameters of the robot. At the same time, the design of manipulator hand structure sliding channel for leveraged plier, wrist motor driven by structure form for turning wrist, arm adopts double guide bar structure form, the structure
6、 and form to turn over in the cylinder cylinder structure form, calculated the clamping workpiece, the driving force for the wrist curls driving torque arm, the driving force for expansion, the force required arms pitch, arm movements of the arms and driving force for driving torque required rotation. Then the design of industrial robots each part of hydraulic cylinder size and structure and connection between the parts and components of supporting structure and size. Keywords: industrial robo
