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摘 要

随着工业自动化的普及和发展，控制器的需求量逐年增大，搬运机械手的应用也逐渐普及，主要在汽车，电子，机械加工、食品、医药等领域的生产流水线或货物装卸调运, 可以更好地节约能源和提高运输设备或产品的效率，以降低其他搬运方式的限制和不足，满足现代经济发展的要求。

搬运机械手是一种能自动化定位控制并可重新编程序以变动的多功能机器，在本设计中，通过对机械手手部结构的设计，臂部结构的设计，以及液压系统的设计，实现四自由度的运动，完成了搬运机械手的系统结构设计。 关键词：搬运机械手；结构设计；液压系统；四自由度

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ABSTRACT

With the popularization and development of industrial automation, control demand increased year by year, carrying manipulator application also gradually popular, mainly in the automotive, electronics, machinery, food, medicine and other fields of production lines or cargo transport, can be better to save energy and improve the efficiency of transport equipment or products, in order to reduce other handling the limitation and inadequacy, meet the needs of modern economic development.

Manipulator is a kind of automatic positioning control and can be programmed to change the multi-function machines, In this design, through the mechanical hand arm structure design, structure design, and the design of the hydraulic system, to achieve four degrees of freedom

movement,completed the manipulator system structure design.

Key words：manipulator；structure design ；hydraulic system ；four degrees of freedom movement

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目 录

摘 要 .............................................................................................................................................. I ABSTRACT ................................................................................................................................... II 1 绪论 ........................................................................................................................................... 1 1.1设计背景 .............................................................................................................................. 1 1.2机械手简介 .......................................................................................................................... 1 1.2.1机械手的发展概况 ..................................................................................................... 1 1.2.2机械手的应用意义 ..................................................................................................... 2 1.2.3搬运机械手的应用简况 ............................................................................................. 3 1.2.4机械手的发展趋势 ..................................................................................................... 4 1.3 PLC概况及在机械手中的应用.......................................................................................... 4 1.4 设计目的 ............................................................................................................................. 6 1.5设计原则 .............................................................................................................................. 6 1.6 本设计的主要内容 ............................................................................................................. 7 2.搬运机械手的整体设计 ............................................................................................................. 8 2.1执行机构 .............................................................................................................................. 8 2.2驱动系统 .............................................................................................................................. 9 2.3 控制系统 ............................................................................................................................. 9 2.4 位置检测装置 ..................................................................................................................... 9 3 手部结构 ................................................................................................................................... 10 3.1 概述 ................................................................................................................................... 10 3.2 设计时应考虑的几个问题 ............................................................................................... 10 3.3 驱动力的计算 ................................................................................................................... 10 3.4 两支点回转式钳爪的定位误差的分析 ........................................................................... 12 3.5 手抓加持范围计算 ........................................................................................................... 12 4臂部的设计 ................................................................................................................................ 14 4.1 臂部设计的基本要求 ....................................................................................................... 14 4.2 手臂的典型机构以及结构的选择 ................................................................................... 15 4.2.1 手臂的典型运动机构 .............................................................................................. 15 4.2.2 手臂运动机构的选择 .............................................................................................. 15 4.3 手臂直线运动的驱动力计算 ........................................................................................... 15 4.3.1 手臂摩擦力的分析与计算 ...................................................................................... 15 4.3.2 手臂惯性力的计算 .................................................................................................. 16 4.3.3 密封装置的摩擦阻力 .............................................................................................. 17 5 臂部运动驱动力计算 ............................................................................................................... 18 5.1 臂垂直升降运动驱动力的计算 ....................................................................................... 18 5.2 手臂回转运动 ................................................................................................................... 19

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