摘要随着现代工业制造业的发展，工业机械手越来越成为辅助加工生产运输等一系列工作必不可少的一种作业工具。现在机器人技术受到越来越多的人的关注，机器人的使用普及程度也越来越高，已经渗透到人类生活的各个方面。本文主要是以某果品企业的需求为背景，设计一款机械手，代替人力完成苹果的装箱过程。47849
对装箱过程进行了运动分析，对机械手的总体结构进行设计，对机械手各部分受力进行计算。根据受力情况选择相应的液压系统并进行详细设计与校核，设计了机械手的液压系统。选择了配套用手爪。
机械手综合了气动、液动等传动方式，采用圆柱坐标式，三个自由度分别为底部旋转自由度、一个升降自由度、一个平移自由度，配以气动手爪，可以实现抓取苹果运动，满足装箱要求。
关键词 机械手 圆柱坐标式 三自由度 液压驱动 气压驱动
毕业论文设计说明书外文摘要
Title Design of Apple Boxing Manipulation
Abstract
With the development of modern industrial manufacturing, the industrial manipulator is increasingly becoming the essential operation tool assisted machining production and transportation of a series of work. Now, more and more people focus their attentions to the manipulator technology. And the universal degree of manipulators is higher than before. This technology has penetration into all aspects of human. The main purpose of this paper is to design a kind of boxing manipulation for a fruit company instead of human.
I make the motion analysis of the packing process, and design the overall structure of the manipulation, and calculate the force on each part of the manipulation. Then I choose the appropriate hydraulic system according to the force situation and make detailed design and verification. Besides, I choose the gripper of the manipulation.
Manipulation is the integration of pneumatic and hydraulic drive ways. It uses the cylindrical coordinate system and involves three degrees of freedom, a rotation degree of freedom, a elevating degree of freedom and a translational degree of freedom. The manipulation can make the apple catched move through these and a gripper.The manipulation can meet the requirement of boxing.
Keywords manipulation cylindrical coordinate system three degrees of freedom pneumatic hydraulic
目 次
1 绪论1
1.1 概述1
1.2 选题背景及意义1
1.4 机械手发展的意义2
1.5 机械手简介2
1.6 设计任务4
2 装箱机械手的总体设计5
2.1 装箱机械手总体结构的设计5
2.2 苹果装箱机械手驱动方式的选择6
2.3 机械手的整体设计7
2.4 机械手运动过程分析8
3 机械手主要构件受力分析及结构设计9
3.1 机械手手爪设计9
3.2 机械手伸缩手臂设计12
3.3 机械手升降结构设计15
3.4 机械手旋转结构设计17
4 驱动系统的设计与校核19
4.1 机械手爪气缸的设计与校核19
4.2 伸缩手臂的液压缸的设计校核19
4.3 对升降机构的液压缸的设计校核22
4.4 旋转机构的液压马达的设计校核23
5 液压系统的设计25
5.1 液压系统传动系统组成部分25
5.2 基本液压回路的选择25
5.3 液压系统的选择与校核26
5.4 液压泵所需电机提供功率的计算26
5.5 液压阀的选择27 圆柱坐标式三自由度苹果装箱机械手设计:http://www.youerw.com/jixie/lunwen_50107.html