摘要在工业高速发展的当今世界，传统的制造业已经很难满足人们的需求，自动化生产线已经成为现代制造业非常重要的一部分。随着科学技术的不断发展，机械手在制造业领域得到了越来越多的应用，它能够按照已设定好的程序对零件进行抓取、搬运等。机械手也可以在危险的环境下替代人工以保护人身安全，另外机械手也可以帮助人们解决重复的体力劳动，使生产效率大大提高，而本文就此设计了一种自动上下料机构上料及料台结构设计。34623
本次设计对机械手的重要部分进行了详细的介绍，包括手爪、腕部、手臂、腰部、机身等。最终确定机械手的设计采用圆柱坐标式。本次设计手爪的张合，机座和腕部的旋转，手臂和腰部的伸缩运动都是采用气缸驱动。
本次设计是数控车床自动上下料机构的结构设计，所以本次设计最终的效果是通过上下料机构实现对供料台上毛培圆柱毛培料的抓取及传送，抓取及传送的过程要求快速、准确、灵活。另外，考虑到经济性，机械手要尽量做到体积小，重量轻，文护方便等优点。
毕业论文关键词：机械手；结构设计；气缸；二文制图
ABSTRACT
In industry fast development in the world today, the traditional manufacturing industry has been difficult to meet the demand of people, automated production line has become a important part of modern manufacturing. Manipulator with the continuous development of science and technology, more and more applied in the field of manufacturing, it can be in accordance with the has set a good program to grab parts, handling, etc. in order to protect the personal safety,Manipulator also can replace human in dangerous environment.the other robots can also help people deal with repetitive manual labor, Make the production efficiency is greatly increased , and the paper designs a kind of automatic up-down material organization structure design and loading area.
Detailed introduction of the design of the manipulator is an important part, including gripper, wrist, arm, waist, body.The design of the manipulator is finally determined by using cylindrical coordinates.The driving part includes cylinder drive, fingernail, arm, waist movement, rotation frame and wrist.
This design is the numerical control lathe automatic up-down material organization structure design, so the design of the final effect is through the institution of feed up and down the stage gross-pui cylindrical gross-pui material fetching and transmission, fetching and transfer process for quick, accurate and flexible. In addition, considering the economy, the manipulator to try to be small size, light weight, convenient maintenance.
Keywords: manipulator, structure design, cylinder, 2D graphics
目  录
1 绪论    1
1.1 机械手的概述    2
1.2 国内数控车床的发展    2
1.3 国外数控车床的发展    2
1.4 机械手未来的发展趋势    3
1.5 本课题研究内容    4
1.6 课题研究的意义    4
2 机械手的总体设计方案    6
2.1 机械手的工作原理及系统组成    6
2.2 机械手基本形式的选择    7
2.3 驱动机构的选择    8
2.4 机械手详细设计参数    9
3 机械手手部结构设计及计算    10
3.1 手部结构    10
3.2 机械手手爪设计计算    10
3.3 夹紧气缸的设计    12
3.4 手爪夹持范围计算    14
3.5 机械手手爪夹持精度的分析计算    15
3.6 弹簧的设计计算    16
4 腕部的设计计算    19 数控车床自动上下料机构换料结构设计及CAD图纸:http://www.youerw.com/jixie/lunwen_32195.html