1、 I 摘 要 随着工业自动化的发展，工业机械手的应用越来越普遍，已被广泛地应用于各行各 业中。本文主要针对用于油泵凸轮轴自动线上，在相邻工位间搬运工件的机械手即油泵 凸轮轴加工自动线送料机械手进行设计。 首先，简要介绍了机械手的基本概念、机械手的组成和分类，以及工业机械手的简 史和发展趋势。其次，本文通过油泵凸轮轴加工自动线送料机械手的动作分析，确定了 机械手的坐标形式、自由度和驱动机构，确定了机械手的主要技术参数；完成了油泵凸 轮轴自动线送料机械手的总体方案设计。再次，完成了机械手的手部、臂部和机身的结 构设计。最后，通过对机械手的动作行程分析，完成了机械手的液压缸设计和液压元件 的选择；设
2、计了可满足机械手循环动作要求的液压系统原理图和电气控制图。本设计采 用西门子公司的可编程控制器 S7-200 来控制机械手的移动。 关键字：关键字：机械手，凸轮轴，液压系统 ，可编程控制器（PLC） II Abstract With the development of industrial automation,the industrial manipulators are used widely. They are applied in kinds of industry. The main idea of this article is the design of manipulator
3、 to moving workpieces between adjacent working position,that is the design of automatic production line for camshaft pump feeding robot. Firstly,it introduced briefly the basic concept of the robot, the composition and classification of robot,the development history of industrial robots and developm
4、ent trends of industrial robots.Secondly,to analyzing the process of automatic production line for camshaft pump feeding robot,I have determined the coordinates form， the number of freedom and drive mechanismthe of manipulator, identified the main technical parameters of mechanical hand,completed the overall design of automatic line feed pump camshaft mechanical hand. Thirdly,I have completed the structure design of hand, arm and body . Finally, through analysing the movement of mechanical hand
