【正文】 摘 要 I 摘 要 工業(yè)機器人一般可理解為：在工業(yè)自動化應(yīng)用領(lǐng)域中的一種自動控制、可重復編程、多功能、多自由度的操作機（固定式的或是移動式的），用于搬運材料、工件、操持工具或檢測裝置，完成各種作業(yè)。 近年來隨著工業(yè)自動化的發(fā)展機械手逐漸成為一門新興的學科，并得到了較快的發(fā)展。機械手廣泛地應(yīng)用于鍛壓、沖壓、鍛造、焊接、裝配、機加、噴漆、熱處理等各個行業(yè)。特別是在笨重、高溫、有毒、危險、放射性、多粉塵等惡劣的勞動環(huán)境中，機械手由于其顯著的優(yōu)點而受到特別重視。 機床上料機械手是典型的機電一體化設(shè)備，它可自動地為機床抓 取工件，取代操作人員頻繁取料，降低勞動強度，提高工作效率。 機械手自 1999 年投入運行 , 工作安全可靠 , 效果良好 , 可用做數(shù)控機床自動上料設(shè)備和生產(chǎn)線上的自動抓取設(shè)備。幾年來 , 逐步開發(fā)了相關(guān)實驗、實訓教學項目 , 以機械手作為實驗 (訓 ) 載體 , 逐步形成了以學生為主體、理論與實踐相結(jié)合的教學模式 , 激發(fā)了學生的創(chuàng)造性和動手能力 , 為提高學生的工程素質(zhì)、全面提高學生的綜合素質(zhì)創(chuàng)造了基礎(chǔ)條件。 關(guān)鍵詞：車床上下料機械手 氣壓系統(tǒng) 結(jié)構(gòu)設(shè)計 Abstract II Abstract Industrial robot can generally be understood as: in industrial automation applications in the field of a kind of automatic control, can repeat programming, multifunction, many of the freedom of CaoZuoJi (fixed or movable), used for material handling, workpiece, conducted tools or detection device, finish all kinds of assignments. In recent years with the development of industrial automation manipulator gradually bee a new discipline, and the rapid development. Manipulator is widely used in fing press, stamping, fing, welding, assembling, and machining, paint, heat treatment, and other industries. Especially in heavy, high temperature, toxic and dangerous, radioactive, many dust etc of bad labor environment, due to its advantages of significant manipulator by special attention. Machine feeding manipulator is typical of electromechanical equipment, it can automatically grab for machine tools, to replace the operators frequently take material, the reduction of labor intensity, improve work efficiency. Manipulator since 1999 are put into operation, safe and reliable work, the effect is good, can be used as nc machine tools automatic feeding equipment and production line acquirement equipment. For several years, and gradually developed related experiment, practice teaching program in experiments (training) as a manipulator carrier, and gradually formed a take the student as the main body, the theory and the practice teaching mode, stimulate the students39。 creativity and practical ability, to improve the students39。 project quality, improve the students39。 prehensive quality created the basic conditions. KeyWords： Lathe updown material manipulator Pneumatic system Structure design目 錄 III 目 錄 摘 要 ........................................................................................................................ I Abstract.......................................................................................................................... II 第一章 概述 ............................................................................................................. 1 1. 1 機械手的發(fā)展歷史 ......................................................................................... 1 1. 2 機械手的發(fā)展意義 ......................................................................................... 1 1. 3 機械手在機械制造中的應(yīng)用 ......................................................................... 2 1. 國外應(yīng)用 ............................................................................................... 2 1. 國內(nèi)應(yīng)用 ............................................................................................... 3 第二章 工業(yè)機械手 ................................................................................................... 4 工業(yè)機械手的分類 ......................................................................................... 4 工業(yè)機械手的驅(qū)動方式 .................................................................................. 4 氣壓驅(qū)動 ................................................................................................ 4 液壓驅(qū)動 ................................................................................................ 5 工業(yè)機械手的設(shè)計方法 ................................................................................. 6 手部的設(shè)計 ............................................................................................ 6 腕部的設(shè)計 ............................................................................................ 7 臂部的設(shè)計要求 .................................................................................... 8 機械手 的行程位置檢測裝置 .............................................................. 10 第三章 車床上下料機械手方案比較 ....................................................................... 12 3. 1 工業(yè)機械手概述 ........................................................................................... 12 3. 2 方案設(shè)計和對比 ........................................................................................... 13 3. 方案 1 .................................................................................................. 13 3. 方案 2 .................................................................................................. 16 3. 方案 3 .................................................................................................. 18 3. 方案對比 ............................................................................................. 19 第四章 手部 計算與分析 ........................................................................................... 20 手部 計算與分析 ........................................................................................... 20 目 錄 IV 滑槽杠桿式手部設(shè)計的基本要求 ..................................................... 20 手部的計算和分析 ............................................................................. 20 腕部 計算與分析 ........................................................................................... 22 腕部設(shè)計的基本要求 ......................................................................... 22 腕部回轉(zhuǎn)力矩的計算 ......................................................................... 23 腕部擺動油缸設(shè)計 ............................................................................. 26 選鍵并校核強度 ................................................................................