1、 多工位冲床专用机械手及送料机构多工位冲床专用机械手及送料机构设计设计 Design of special Manipulator and Feeding mechanism for multi station punch 多工位冲床专用机械手及送料机构设计 - I - 摘摘 要要 随着我国工业生产的飞速发展，自动化程度迅速提高，工业机械手在近几十年里飞 速发展。工业机械手是工业机器人的分支，其特点是可通过编程来完成各种预期的作业 任务，在构造和性能上兼有人和机器的优点，尤其体现了人的智能和机器的适应性。 本文首先介绍了工业机械手的概念以及国内外的发展状况，然后描述了机械手的组 成和分类，机械
2、手的自由度和坐标形式，并进行了手部结构的设计与校核，最后阐述了 机械手的气动技术与继电器控制。 该机械手是用于多工位冲床上加工零件，用机械手向冲床自动上、下料，并实现半 成品零件在七个工位之间的转换。机械手主要由气缸驱动，使手臂进行伸缩、横移和升 降运动，并分别用液压缓冲器实现缓冲。本文在对机械手进行总体方案设计时，确定了 机械手的坐标形式和自由度及其技术参数，同时设计了机械手的夹持式手部结构，机械 手的手腕和手臂结构，计算出了手腕转动时所需的驱动力矩和回转气缸的驱动力矩。 该机械手采用 PLC 系统进行控制，在设计中绘制出了气压系统工作原理图和 PLC 控 制器的控制程序。此种方式的机械手可
3、以使不同工位进行同时加工，从而提高了劳动效 率，而且也提高了生产精度，还降低了人员需求数量，从而减轻了劳动强度，并保证了 劳动安全。 关键词：关键词：机械手；多工位；气动；电气控制机械手；多工位；气动；电气控制 多工位冲床专用机械手及送料机构设计 - II - Design of special Manipulator and Feeding mechanism for multi station punch Abstract With the rapid development of Chinas industrial production, the degree of automation
4、 is increasing rapidly, the industrial robot, the rapid development in recent decades. Industrial robot is a branch of the industrial robot can be programmed to complete a variety of expected operating tasks, both man and machine on the structure and performance of their respective advantages, espec
5、ially human intelligence and adaptability. First ,this article of all introduce the industrial mechanical hand of the concept as well as domestic and international development status, then describe the manipulator constitute and classification of manipulator degrees of freedom and coordinates the fo
6、rm of a hand structure design and checking, the last described the robots pneumatic technology and relay control. The robot is used for punching processing parts, automatic robot to punch materials, and to achieve semi-finished parts in the conversion between seven working. The robot is driven by the cylinder, arm stretching, shifting, and lifting movement and hydraulic shock absorber buffer. The overall program design of the robot to determine the robots coordinate forms and degrees of
