第1页共46页编号：时间：2021年x月x日书山有路勤为径，学海无涯苦作舟页码：第1页共46页摘要本文简要地介绍了注塑机械手的概念，机械手的组成和分类，机械手的自由度和座标型式，气动技术的特点，以及国内外的发展状况。本文针对YKM型注塑机的具体参数对机械手进行了总体方案设计，确定了机械手的座标型式和自由度，确定了机械手的技术参数。同时，设计了机械手的吸附式手部结构;设计了机械手的手腕旋转结构，计算出了手腕转动时所需的驱动力矩和回转气缸的驱动力矩;设计了机械手的手臂结构。本课题通过应用AutoCAD技术对机械手进行结构设计和气压传动原理设计，它能实行自动上料运动。上料机械手的运动速度是按着满足生产率的要求来设定。关键词：机械手；气动；AutoCAD第2页共46页第1页共46页编号：时间：2021年x月x日书山有路勤为径，学海无涯苦作舟页码：第2页共46页AbstractThispaperbrieflyintroducestheconceptoftheinjectionmoldingmachinemanipulator,compositionandclassificationofthemanipulator,themanipulatordegreesoffreedomandcoordinatetype,thecharacteristicsofpneumatictechnology,andthedevelopmentofthesituationathomeandabroad.Inthispaper,thespecificparametersfortheYKMtypeinjectionmoldingmachine,theoveralldesignofthemanipulator,themanipulatortodeterminethecoordinatetypeanddegreeoffreedom,determinethetechnicalparametersofthemanipulator.Atthesametime,thedesignofadsorptiontypemanipulatorhandstructure;designthewristrotationstructureofthemanipulator,calculatesthetorqueandthedrivingtorqueoftherotarycylinderwristrotationrequired;designofmanipulatorarmstructure.ThistopicthroughtheapplicationofAutoCADtechnologytodesignthestructureandprincipleofpneumaticsystemdesignofmechanicalhand,itcancarryouttheautomaticfeedingmovement.Onthemanipulatormovementspeedistomeetproductivityrequirementset.Keywords:Manipulator;pneumatic;AutoCAD第3页共46页第2页共46页编号：时间：2021年x月x日书山有路勤为径，学海无涯苦作舟页码：第3页共46页目录摘要.................................................................................................................1目录...................................................................................................3前言.....................................................................................................................4第一章绪论.......................................................................................................51.1机械手概述............................................................................................51.2机械手的组成和分类............................................................................61.2.1机械手的系统工作原理及组成..................................................61.2.2机械手的分类..............................................................................81.3课题的提出及主要任务........................................................................9第二章机械手的设计方案.............................................................................112.1机械手的座标型式与自由度和工作范围...........................................112.2机械手的手部结构方案设计..............................................................132.3机械手的手臂结构方案设计..............................................................132.4机械手的驱动方案设计......................................................................132.5机械手的技术参数..............................................................................13第三章手部结构设计............................................
