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摘 要
本論文主要介紹了沖床上下料機(jī)械手的設(shè)計(jì)過程。在查閱了一系列參考資料以后，根據(jù)所給任務(wù)，參閱國內(nèi)的設(shè)計(jì)情況，選用圓柱座標(biāo)和三自由度。機(jī)械手的各執(zhí)行機(jī)構(gòu)，包括:手部、手腕、手臂、支柱等部。用機(jī)械手來抓取工件。
在分析了具體工作要求，對(duì)個(gè)方案進(jìn)行對(duì)比之后，綜合考慮各個(gè)因素。機(jī)械手腰部的旋轉(zhuǎn)運(yùn)動(dòng)需要一定的定位控制精度，故采用步進(jìn)電機(jī)驅(qū)動(dòng)來實(shí)現(xiàn)；因?yàn)椴捎靡簤簣?zhí)行缸來做水平手臂和垂直手臂，故大小臂均采用液壓驅(qū)動(dòng)；機(jī)械手的手部結(jié)構(gòu)設(shè)計(jì)，因?yàn)楣ぜ前辶?，使用機(jī)械手，采用氣動(dòng)驅(qū)動(dòng)。
關(guān)鍵詞：沖床 機(jī)械手 氣動(dòng)驅(qū)動(dòng)
Abstract
The present paper mainly introduced on the punch press the yummy treats manipulator's design process. After having consulted a series of reference, refers to the domestic design situation. Selects the circular cylindrical coordinate and three degrees-of-freedom. Manipulator's each implementing agency, including: Hand, arm and so on. Absorbs the sheet work piece with the air current negative pressure type sucker. In has analyzed the concrete work requirement, carries on the contrast after a plan, overall evaluation each factor. The manipulator waist's rotary motion needs certain positioning control precision, therefore uses step-by-steps the motor-driven to realize; Because uses the hydraulic pressure execution cylinder to make the horizontal arm and the vertical arm, therefore the big and small arm uses the hydraulic pressure actuation; Manipulator's hand structural design, because the work piece is the sheet, use air current negative pressure type sucker. Uses the air-operated drive.
key words: Punch press air-operated drive.
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