【正文】 院長 （簽名） 1．畢業(yè)設(shè)計（論文）的主要內(nèi)容及基本要求 主要內(nèi)容： ① 氣動元件完成機械手上下料要求； ② 三個自由度， z 軸移動 200mm， x 軸移動 1000，繞 y 軸轉(zhuǎn)動 90 度 ③ 工件質(zhì)量小于 5kg 基本 要求： ① 機械手裝配圖一份； ② 零件圖兩份 ； ③ 畢業(yè)設(shè)計說明書一份； 2．指定查閱的主要參考文獻及說明 《工業(yè)機械手設(shè)計》 《氣缸的工作原理》 3．進度安排 設(shè)計（論文）各階段名稱 起 止 日 期 1 查閱、收集資料，完成開題報告 2 完成所有設(shè)計的結(jié)構(gòu)設(shè)計和計算任務(wù) 3 完成所有畢業(yè)設(shè)計的圖紙 4 修改、完成畢業(yè)設(shè)計說明書的編寫，并提交 5 畢業(yè)答辯準(zhǔn)備和畢業(yè)答辯 摘要 I 摘要 本次設(shè)計主要針對數(shù)控車床加工轉(zhuǎn)子的機械手的上下料過程，分析工件由生產(chǎn)線到工作臺的運動過程。主要采用氣動元件，用氣爪，擺動氣缸等實現(xiàn)機械手的抓取和翻轉(zhuǎn)功能，用伺服電機和滾珠絲桿實現(xiàn)機械手橫移，以實現(xiàn)運動的方案。 關(guān)鍵詞 ：數(shù)控車床；機械手；氣動元件；伺服電機 ABSTRACT II ABSTRACT This design mainly aims at the manipulator of the CNC lathe processing rotor of loading process, and analysis the motion process of workpiece by the production line to the workbench. Mainly adopts pneumatic ponents, gas, manipulator grasping and flip functions such as oscillating cylinder, servo motor and ball screw is used to implement manipulator transverse shift, in order to realize the movement of the scheme. Through the design of manipulator used in CNC lathe design steps and methods of syste matic knowledge, according to its design manipulator that economy is applicable, and the cylinder of the structure and working principle of the prehensive control. Keywords: Numerical control lathe； manipulator； Pneumatic ponents； Servo motor 目錄 1 目錄 摘要 .............................................................................................................................................I ABSTRACT ............................................................................................................................. II 第一章 緒論 .............................................................................................................................. 1 ............................................................................................................................. 1 .......................................................................................................................... 2 .......................................................................................................................... 3 ..................................................................................................... 4 ........................................................................................................ 5 ............................................................................................................ 5 ............................................................................................................ 6 第二章 機械手設(shè)計方案 .......................................................................................................... 7 ............................................................................................................... 7 .................................................................................................... 7 ................................................................................................... 7 ............................................................................................................ 8 ...................................................................................................................... 8 動件和執(zhí)行元件的方案設(shè)計 ................................................................................................. 9 第三章 各部分詳細設(shè)計 ........................................................................................................ 11 .........................................................................................................................11 .......................................................................................................... 12 ............................................................................................................. 13 ........................................................................................................................... 14 ................................................................................................................ 14 ................................................................................................................ 14 旋轉(zhuǎn)裝置的設(shè)計 .................................................................................................................... 16 ............................................................................................................. 16 ............................................................................................... 18 ........................................................................................................................ 22 連接座整體設(shè)計 ........................................................................................................... 22 目錄 2 氣爪和連接座螺釘?shù)暮唵涡：? ...................................................................................... 23 ............................................................................................................. 24 .................................................................................................. 24 ......................................................................................................... 25 ............................................................................................................. 26 ......................................................................................................... 26 ......................................................................................................... 27 ......................................................................................................... 28 ............................................................................................................. 29 .............................................