仓储搬运机械手主体设计摘要：机械手是工业机器人的执行机构，是机器人的关键部位。它能部分的代替人工操作；能按照生产工艺的要求，遵循一定的程序，时间和位置来完成工件的传送和装卸；能制作必要的机具进行焊接和装配。仓储搬运机械手的出现，大大改善工人的劳动条件，显著地提高劳动生产率，加快实现工业生产的机械化和自动化的步伐关键词：机械手，液压，自补偿位移测量导向套StorageCarryingManipulatorMainBodyDesignAbstract：theindustrialrobotmanipulatoristheexecutivemechanism,isthekeypartoftherobot.Itcanbepartoftheoperationtoreplaceartificial;Accordingtotheproductionrequirements,followacertainprocedure,timeandlocationtocompletethetransferandloadingandunloading;Canmakethenecessarytoolstocarryoutweldingandassembly.Storagecarryingmanipulator,theemergenceofgreatlyimprovethelaborconditions,significantlyimprovelaborproductivityandtherealizationoftheindustrialproductionmechanizationandautomationpace.Keyword：Manipulator,Hydraulicpressure,Displacementmeasurement-orientedsetsofself-compensation目录1.前言.................................................................................................................................................................11.1机械手的概述和发展..........................................................................................................................11.2机械手综述..........................................................................................................................................11.2.1机械手设计的目的...................................................................................................................11.2.2机械手运用的场合...................................................................................................................11.2.3机械手的组成...........................................................................................................................21.2.4机械手的主要性能参数...........................................................................................................22.仓储搬运机械手主体设计.............................................................................................................................32.1机械手的工作要求设计.......................................................................................................................32.2机械手手爪计算..................................................................................................................................32.2.1手爪抓取工件结构尺寸限制....................................................................................................32.2.2手爪长度的确定........................................................................................................................42.2.3手指夹紧力的计算....................................................................................................................42.2.4钳爪式手部结构........................................................................................................................62.2.5齿条行程的确定.......................................................................................................................72.2.6机械手指尖部分结构设计........................................................................................................72.3执行系统的选择及具体计算、选型................................................
