仓储搬运机械手主体设计说明书

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2012届本科生结业设计（论文）

课题名称 仓储搬运机器手主体设计 专 业 机器设计及其自动化 专业偏向 机电一体化 班 级 学 号 学生姓名 指导西席 教研室 机器电子



上海应用技能学院








仓储搬运机器手主体设计

摘要：机器手是产业呆板人的执行机构，是呆板人的要害部位。它能部分的取代人工操纵；能凭据生产工艺的要求，遵循一定的步伐，时间和位置来完成工件的传送和装卸；能制作须要的机具进行焊接和装配。

仓储搬运机器手的出现，大大改进工人的劳动条件，显著地提高劳动生产率，加快实现产业生产的机器化和自动化的步调

要害词：机器手，液压，自赔偿位移丈量导向套

Storage Carrying Manipulator Main Body Design

Abstract：the industrial robot manipulator is the executive mechanism, is the key part of the robot. It can be part of the operation to replace artificial; According to the production requirements, follow a certain procedure, time and location to complete the transfer and loading and unloading; Can make the necessary tools to carry out welding and assembly.

Storage carrying manipulator, the emergence of greatly improve the labor conditions, significantly improve labor productivity and the realization of the industrial production mechanization and automation pace.

Keyword：Manipulator, Hydraulic pressure, Displacement measurement-oriented sets of self-compensation






目 录

............................................................................................................................................................................ 1

1.1 机器手的概述和生长 ......................................................................................................................... 1 1.2 机器手综述 ......................................................................................................................................... 1

1.2.1 机器手设计的目的 .................................................................................................................. 1 1.2.2 机器手运用的场所 .................................................................................................................. 1 1.2.3 机器手的组成 .......................................................................................................................... 2 1.2.4 机器手的主要性能参数 .......................................................................................................... 2

............................................................................................................................................................................ 3

.................................................................................................................................................................... 3 .................................................................................................................................................................... 3

............................................................................................................................................................ 3 ............................................................................................................................................................ 4 ............................................................................................................................................................ 4 ............................................................................................................................................................ 6 2.2.5 齿条行程简直定 ...................................................................................................................... 7 2.2.6 机器手指尖部分结构设计 ...................................................................................................... 7 2.3执行系统的选择及具体盘算、选型 .................................................................................................. 8

............................................................................................................................................................ 8 .......................................................................................................................................................... 10 ........................................................................................................................................................... 11 2.3.3液压回路的设计及控制阀、帮助件、泵站的选择 ............................................................. 12 .................................................................................................................................................................. 15

.......................................................................................................................................................... 16 2.3.2导向杆、导向套与横臂的连接 ............................................................................................. 16 .......................................................................................................................................................... 16 .......................................................................................................................................................... 16

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.................................................................................................................................................................. 17 .................................................................................................................................................................. 18

.......................................................................................................................................................... 18 .......................................................................................................................................................... 18 .......................................................................................................................................................... 19 .................................................................................................................................................................. 20 .................................................................................................................................................................. 21 .......................................................................................................................................................................... 22 .......................................................................................................................................................................... 30 .......................................................................................................................................................................... 31 .......................................................................................................................................................................... 32 附录 .................................................................................................................................................................. 33

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