精品文档---下载后可任意编辑多功能机械手的设计摘要: 本次设计的多功能机械手用于加工自动线上，主要由手爪、手腕、手臂、机身、机座等组成，具备上料、翻转和转位等多种功能，并按该自动线的统一生产节拍和生产纲领完成以上动作。本机械手机身采纳机座式，自动线围绕机座布置，其坐标形式为球坐标式，具有立柱旋转、手臂伸缩、手臂俯仰、腕部转动和腕部摆动 5个自由度；驱动方式为液压驱动，且选用双联叶片泵，系统压力为，电机功率为，共有整机回转油缸、手臂俯仰油缸、手臂伸缩油缸、手腕摆动油缸、手腕回转油缸、手爪夹紧油缸 6 个液压缸；定位采纳机械挡块定位，定位精度为～1mm，采纳行程控制系统实现点位控制。 关键字： 机械手，球坐标，液压，机械挡块 ，点位控制精品文档---下载后可任意编辑Abstract: The current design of multifunctional mechanical hand used for R175-type diesel organisms automatic processing line, mainly consist of claw, wrists, arms, body, base and so on. With moving the materials, turnover and transfer spaces, and many other functions, the automatic line with the unified production rhythms and production program completed more moves. With the automatic production line rhythms and the production of complete reunification of the above movements, automatic line is around the machine arrange, the coordinates of the ball coordinates of the form, with huge rotary, extendable arm, arm pitch, hitting and hitting back five moves freedom; Driven approach to hydraulic-driven, and the choice of double leaves pumps, the system pressure to , electrical power for a total of whole sets of rotation tank, arm tilt cylinders, fuel tanks extendable arm, wrist swing tank, wrist rotation tank, claw clip tank six hydraulic oil tank; positioning a piece of machinery turned positioning, positioning accuracy for ~1mm, using control systems to achieve their point spaces control. Key words: Mechanical hand, the ball coordinates, hydraulic,...
