摘要：液压搬运机械手是模仿人的手指和手臂动作，用于在生产线上按固定的程序抓取、搬运工件的自动操作装置，用来解决不适合用传送带场合或两条传送带之间的搬运操作。它用来代替人的繁重劳动以实现生产的自动化和机械化，对于高危操作有效地保障了人的安全，因此广泛用于机械制造、电子、轻工等工作场地。目前，机械手具有的功能越来越多，在多个领域都得到了使用。

本设计是为了实现生产线上的搬运而设计的五自由度液压机械手。拟定了搬运机械手的动作规划，然后结合资料书籍以及专业所学的知识对机械手的主要结构进行分析，拟定了总体设计方案，进而对机械手的手臂、手腕、手指等机构的驱动力和驱动力矩进行详细的设计计算，并绘制了必要的工程图，包括总装配图以及一些结构部件的零件图。

其次，根据机械手手臂伸缩、升降、水平回转机构，手指夹紧机构的驱动力和驱动力矩，进行液压元件的设计计算，主要包括液压缸和液压马达的技术参数，然后进行液压缸活塞杆的强度校核，并验算其弯曲稳定性。最后，设计完整的液压系统，包括液压基本回路的确定和液压元件的选择，并绘制出液压系统图。

本设计基本达到了预期的要求，实现了机械手平稳、快速的抓取工件，结构简单，适用于生产线上进行工件的搬运。

关键词：机械手；搬运机构；液压系统；多自由度

Abstract：The hydraulic handling robot is an automatic operation device that mimics the finger and arm movements of a person and is used to grasp and carry the workpiece in a fixed line on the production line to solve the handling operation between the conveyor belt and the two conveyor belts. It is used to replace the heavy labor to achieve the production of automation and mechanization, for high-risk operation to effectively protect the safety of people, it is widely used in machinery manufacturing, electronics, light industry and other workplace. At present, the robot has more and more functions, in a number of areas have been used.

The design is designed to achieve the handling of the production line of five-degree- of-freedom hydraulic manipulator. The paper analyzes the main structure of the manipulator, and then analyzes the driving force and driving torque of the arm, wrist and finger of the manipulator, and then analyzes the main structure of the manipulator with the knowledge of the manipulator and the knowledge of the manipulator. Detailed design calculations, and drawing the necessary drawings, including the assembly map and some structural parts of the parts map.

Secondly, according to the robot arm stretching, lifting, horizontal rotation mechanism, the finger clamping mechanism of the driving force and driving torque, the hydraulic components of the design calculation, including the hydraulic cylinder and hydraulic motor technical parameters, and then the hydraulic cylinder piston rod strength Check, and check the bending stability. Finally, the design of a complete hydraulic system, including the determination of the basic hydraulic circuit and the selection of hydraulic components, and draw the hydraulic system diagram.

The design basically reached the expected requirements, to achieve a smooth robot, fast grasping the workpiece, simple structure, suitable for the production line for the handling of the workpiece.

Keywords: manipulator;handling mechanism;hydraulic system;multiple degress of freedom

目 录

第一章绪论 1

1.1选题背景及其意义 1

1.2工业机器人的应用与发展 1

1.2.1工业机器人的应用