液压机械手

摘要液压机械手是模拟人体手臂的一种自动化机械设备，不仅能够取代人力降低工作强度完成相对应的工作，而且能够提升劳动生产效率。课题以能够实现灵活抓取并进行搬运动作的液压机械手作为研究对象，充分了解其基本要求，对其系统动作行程和所需自由度进行工况分析，设计其总体结构，并进而对该机械手的主要组成部分手部、腕部和臂部，进行具体的参数设计计算。在课题的进程中，充分利用Auto CAD绘制机械手各零部件图纸。论文最后就液压阀的集成做了简要阐述，以达到机械手结构紧凑之目的。关键词：机械手；优化；设计；集成论文类型：工程设计AbstractHydraulic manipulator is an automatic mechanical equipment that simulates human arm.It can not only replace manpower to reduce the work intensity and complete thecorresponding work,but also improve the labor production efficiency.In this paper,thehydraulic manipulator which can realize flexible grasping and handling is taken as theresearch object,and its basic requirements are fully understood.The working conditions of itssystem action stroke and required degrees of freedom are analyzed,and its overall structure isdesigned,and then the specific parameters of the main components of the manipulator,suchas hand,wrist and arm,are designed and calculated.In the process of the project,make full use of Auto CAD to draw the drawings ofmanipulator parts.Finally,the paper briefly expounds the integration of hydraulic valves inorder to achieve the purpose of compact structure of manipulator.Key Words:Manipulator;Optimization;Devise;IntegrationThesis Type:Engineering Design目录摘要Abstract…1绪论.11.1选题背景及意义.11.2液压机械手的选题目的.11.3发展趋势..12液压机械手的设计与分析….32.1机械手的设计要求.32.1.1机械手设计满足以下要求32.1.2对驱动力的选择要求32.1.3其余液压部件选择….32.1.4适用场所….42.2机械手设计分析….52.2.1臂力确定….52.2.2工作范围的确定….52.2.3运动速度的确定…52.2.4手臂配置形式.….63机械手手部和腕部的结构设计.…73.1末端手部结构设计.….73.1.1设计时需要考虑的问题.73.1.2驱动力的计算..83.1.3夹紧缸的尺寸设计.….103.2腕部的结构设计..113.2.1腕部的结构形式.113.2.2手腕部驱动力矩的计算124机械手臂部的结构设计.…。.154.1手臂伸缩运动….154.2手臂升降运动...174.3手臂回转运动…。.184.4基座旋转轴的强度校核.185集成块的研究设计….21