1、 I 摘 要 本次设计的多功能机械手为液压通用机械手,主要由手爪、手腕、 手臂、机身、机座等组成,具备上料、翻转和转位等多种功能,并 按自动线的统一生产节拍和生产纲领完成以上动作。本机械手机身 采用机座式,自动线围绕机座布置,其坐标形式为圆柱坐标式,具 有立柱旋转、手臂伸缩、腕部转动和腕部摆动等 4 个自由度;驱动 方式为液压驱动,利用油缸、齿轮、齿条实现直线运动;利用油缸 与齿轮、齿条或链条实现回转运动。液压驱动的优点是压力高、体 积小,出力大,动作平缓,并能在中间位置停止。本次设计的机械 手能对不同物体完成多种动作。 关键词: 机械手;圆柱坐标;液压驱动 II Abstract The d
2、esign of multi-manipulator hydraulic manipulator general, mainly by the gripper, wrist, arm, body, base etc., with the material, flip, and a variety of functions such as translocation, in accordance with the unified autom ated production line beat and production program have done so. This machine ad
3、opts the base-type mobile phone, automatic wire around the base layout, its coordinates in the form of cylindrical coordinate type, with column rotation, arm stretching, wrist rotation and wrist swing and so four degrees of freedom; drive mode for the hydraulic drive, use fuel tank, gear, rack to ac
4、hieve linear motion , use of tanks and gear, rack or chain to achieve rotary motion. Hydraulic drive has the advantage of high pressure, small size, contribute to a large, gentle movement and can stop in the middle. The design of the robot can complete a variety of different objects in action. Keywords: mechanical hand; cylindrical coordinate; fluid power drive III 目 录 摘 要 I Abstract II 目 录 . III 第 1 章 绪论 1 1.1 机械手的基本概念 1 1.2 机械手的发展现状及应用. 1 1.2.1 发展现状 . 1 1.2.2 应用 3 第 2 章 方案的确定 . 7 2.1 直角坐标