沈阳航空航天大学毕业设计(论文)摘要机械手是自动换刀装置中主要工具,担负着把刀库中的刀具传送到主轴上,然后把主轴上不用的刀具快速返回刀库中。思路是用机械手的动作来实现对加工中心的换刀,机械手的转动是用回转液压缸运来完成的,它的动力是由驱动系统实现。加工中心自动换刀装置,一般是由刀库和机械手组成,它是加工中心的象征,又是加工中心成败的关键环节。各加工中心制造厂家都在下大力研制动作迅速、可靠性高的自动换刀装置,以求在激烈的竞争中取得好效益,自动换刀装置是加工中心的重要内容,各厂家保密,很少公开相关资料,尤其是机械手部分更是如此。这些机械手的拔刀、插刀动作,大都由油缸动作来完成。根据结构要求,可以采用油缸动,活塞固定;或活塞动,油缸固定的形式。整个机械手由机械臂伸缩机构,机械爪开合机构,回转机构及装卸刀具直线运动机构组成。关键词:加工中心;机械手;刀库;机械臂I沈阳航空航天大学毕业设计(论文)AbstractManipulatorisautomaticallychangetooldevicethemaintooltoexchangetool,itbearsontheknifelibraryonthetooltospindle,andthenthespindlehasusedtoolreturnstasksontoolstore.Designideaistouserobotstoachievetheactionmachiningcenter,therotationofthemanipulatorchangecuttersareshippedturnhydrauliccylinder,itspowerisrealizedbydrivesystemimplementation.Machiningcenter,theautomaticcutterreplacementdeviceisusuallycomposedbyknifelibraryandmanipulator,itisthesymbolofprocessingcenter,itiscrucialtothesuccessoftheprocessingcenterlink.Sotheprocessingcentermanufacturesaredevelopedrapidlynextvigorously,highreliabilityofaction,inordertobeautomaticcutterreplacementdeviceinthefiercecompetitionandachievedgoodbenefit,automaticallychangetooldeviceisthecorecontentofmachiningcenter,themanufacturersareconfidential,seldompubliclyaboutmaterial,especiallymanipulatorpartisevenmoreso.Thismanipulator,asword,insertedknifeactionbyoilcylinderactionmostlytofinish.Accordingtothestructuralrequirement,canuseoilcylindermove,pistonfixed;Orthepistonmove,oilcylinderfixedstructure.Thewholemanipulator,bymechanicalarmtelescopicinstitutionofmechanicalclawopening-closinginstitutions,rotaryinstitutionsandloadingandunloadingtoollinearmotionmechanismcomposition.Keywords:machiningcentre;manipulator;magazinetool;mechanicalarmII沈阳航空航天大学毕业设计(论文)目录1绪论..............................................................12机械手主要参数....................................................22.1主要参数......................................................22.2规格参数......................................................23机械手总体设计....................................................43.1机械手的布局形式..............................................43.2机械手的设计内容..............................................44机械手机构设计....................................................54.1机械手手部机构设计要求........................................54.2机械手手部类型................................................54.3机械手手臂的机构设计..........................................64.3.1手臂的直线运动机构.........................................74.3.2手臂回转运动机构..........................................84.3.3导向装置...................................................85机械手主要部件设计计算...........................................105.1机械手装刀与卸刀伸缩时驱动计算...............................105.1.1粗算机械手手部质量........................................115.1.2计算单臂液压缸的质量:.....................................115.1.3手...