毕 业 设 计题 目液压搬运机械手的设计摘 要液压搬运机械手是一种被设计用于深孔镗床上下料，可以重复编程、具有多种功能的专用设备，它可代替人的繁重劳动以实现生产的机械化和自动化。通过文献检索、企业调研，对液压搬运机械手的整机结构、功能特点进行归纳分析，对国外工业机械手的进展状况进行了总结。本文对液压搬运机械手的主要结构进行了详细的设计，其中对上下料机械手的总体结构，运动过程都做了详细的讨论。同时对机械手的手指夹紧，小手臂伸缩以与大、小手臂俯仰等动作进行了分析、计算，最终确定其尺寸。而后，介绍了搬运机械手液压驱动系统的工作原理与液压元件的选用与设计过程。最后，简要介绍了液压搬运机械手的电气控制系统部分。通过计算分析校核，液压搬运机械手的设计基本达到了预期的设计要求，实现了机械手承载能力大、运动平稳和任意位置安全自锁等性能要求。关键词：机械手；液压系统；搬运机构ABSTRACTHydraulic carrying manipulator is designed for a deep hole boring machine loading and unloading, reprogrammable, multifunctional equipment. It can replace human heavy labor to achieve the mechanization and automation of production. Through literature search, business research, I have summarized and analyzed the hydraulic manipulator’s whole structure and function characteristics, summarized domestic and foreign industrial robot’s development. In this paper, the main structure of hydraulic carrying manipulator is designed in detail, in which the overall structure of the loading and unloading robot, motion process is discussed in detail. At the same time, the clamping fingers, small telescopic arm, small and large pitch arm and other activities of the manipulator were analyzed, calculated and its size is ultimately determined. Then, working principle of hydraulic drive system and the selection and design process of hydraulic components of the hydraulic handling manipulator are introduced. Finally, the electrical control system of the hydraulic handling man...
