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1、摘要数控机床上下料机械手是工业机器人机械手的一种，机械手在工业生产中能代替 人手做某些单调、频繁和重复的长时间作业，或是危险、恶劣环境下的作业，例如在 冲压、压力铸造、热处理、焊接、涂装、塑料制品成形、 机械加工和简单装配等工 序上，以及在原子能工业等部门中，完成对人体有害物料的搬运或工艺操作【1】。数控机床上下料机械手主要由手部和运动机构组成。手部是用来抓持工件（或工 具）的部件，根据被抓持物件的形状、尺寸、重量、材料和作业要求而有多种结构形 式，如夹持型、托持型和吸附型等。运动机构，使手部完成各种转动（摆动）、移动 或复合运动来实现规定的动作，改变被抓持物件的位置和姿势。运动机构的升降、伸
2、 缩、旋转等独立运动方式，称为机械手的自由度 。为了抓取空间中任意位置和方位 的物体，需有 6 个自由度。自由度是机 械手设计的关 键参数。自由 度越多，机械 手的灵活性越大，通用性越广，其结构也越复杂。一般专用机械手有23个自由度。机械手的种类，按驱动方式可分为液压式、气动式、电动式、机械式机械手；按 适用范围可分为专用机械手和通用机械手两种；按运动轨迹控制方式可分为点位控制 和连续轨迹控制机械手等。【2】数控机床上下料机械手是近几十年发展起来的一种高科技自动化生产设备。数控 机床上下料机械手的是工业机器人的一个重要分支。它的特点是可通过编程来完成各 种预期的作业任务，在构造和性能上兼有人和
3、机器各自的优点，尤其体现了人的智能 和适应性。机械手作业的准确性和各种环境中完成作业的能力，在国民经济各领域有 着广阔的发展前景。在工业上，自动控制系统有着广泛的应用，如工业自动化机床控制，计算机系统， 机器人等。而工业机器人是相对较新的电子设备，它正开始改变现代化工业面貌。实 际的机器人由带有腕（或称为手臂）的主机身和机身端部的工具（通常是某些类型的夹 持器）组成,同时也包括一个辅助动力系统。本文是对整个设计工作较全面的介绍和总 机械手技术涉及到力学、机械学、电气液压技术、自动控制技术、传感器技术和计算 机技术等科学领域，是一门跨学科综合技术。关键词：手臂 夹持器 工业机器人Abstract
4、Industrial machine hand in industrial production can replace hand to do some drab, frequent and repeat the long operation, or danger, harsh environment, such as the homework in pressing, welding, casting, heat stress, coating, plastic forming, machining and assembling process such as simple, and in
5、the atomic energy industry departments, complete harmful material handling or process operation. Manipulator hand and movement mainly by institutions. Hand is used to catch the workpiece (or tools), according to the parts of the object was caught the shape, size, weight, materials and operational re
6、quirements and has a variety of structural forms, such as the type of clamping, and adsorption type, etc. Sports organizations and finish all kinds of rotating (hand), moving or composite swing motion to realize, change the position of the object was caught and posture. The lifting mechanism, and th
7、e independence movement of the manipulator, called freedom. In order to grab arbitrary position and orientation of the object, need to have six degrees. Freedom is the design of hand machine armed key parameters. The freedom of the manipulator, the degree of flexibility, the greater the universality
8、 and broader, its structure is more complex. General special manipulator has 2-3 degrees.According to the types of the manipulator, driving mode can be divided into hydraulic, pneumatic, electric type, mechanical manipulator, According to the scope and special manipulator can be divided into two man
9、ipulators, According to the trajectory control mode can be divided into position control and continuous trajectory control manipulator, etc.Robots are usually used or other machine tools, such as additional device in automatic machine or automatic production line, loading and unloading workpieces re
10、lay in machining center, the replacement of tools is not independent control device. Some operations to direct manipulation by device, such as atomic energy sector also dangerous goods masterslave gunner also often called the manipulator.Industrial robot developed in recent years is a high-tech auto
11、mation production equipment. Industrial robots is an important branch of industrial robots. Its characteristic is accomplished by programming task, various expected in the structure and performance of the respective advantages of both human beings and machines, particularly reflected peoples intelli
12、gence and adaptability. Manipulator and the accuracy of all sorts of homework assignments in the environment of national economy, in the field has broad prospects for development. In industry, the automatic control system in a wide range of applications, such as industrial automation control, comput
13、er systems, machine, etc. Industrial robot is a relatively new electronic equipment, it is beginning to change the face of modern industry. The actual robot with a wrist (or called by the host body and arms) at the end of the fuselage of tool (usually a certain types of grippers), also include an au
14、xiliary power system. This is the design of the whole work is introduced and the total manipulator technology involves mechanics, mechanical, electrical and hydraulic technology, automatic control technology, the sensor technology and computer technology, science, is an interdisciplinary comprehensi
15、ve technology.Key words：arm grippers industrial robots目录摘 要 IASTRACT II1. 绪论 51.1 选题背景 11.2 设计目的 11.3 国内外研究现状和趋势业 22. 工业机器人机械手的总体设计 32.1 工业机器人的组成及各部分的关系概述 32.2工业机器人机械手设计分析 33. 工业机器人机械手的运动系统分析 63.1工业机器人的运动自由度 63.2 机器人的运动空间和机械结构类型 64. 工业机器人机械手的执行机构设计 84.1 末端执行机构设计 84.2手臂机构的设计 114.3腰部和基座设计 14总 结 24参考文献
16、 25致 谢 26附 录 301 绪论1.1 选题背景机械手是在自动化生产过程中使用的一种具有抓取和移动工件功能的自动化装 置，它是在机械化、自动化生产过程中发展起来的一种新型装置。近年来，随着电子 技术特别是电子计算机的广泛应用，机器人的研制和生产已成为高技术领域内迅速发 展起来的一门新兴技术，它更加促进了机械手的发展，使得机械手能更好地实现与机 械化和自动化的有机结合。机械手能代替人类完成危险、重复枯燥的工作，减轻人类劳动强度，提高劳动生 产力。机械手越来越广泛的得到了应用，在机械行业中它可用于零部件组装 ，加工 工件的搬运、装卸，特别是在自动化数控机床、组合机床上使用更普遍。目前，机械手已发展成为柔性制造系统 FMS 和柔性制造单元 FMC 中一个重要组成 部分。把机床设备和机械手共同构成一个柔性加工系统或柔性制造单元，它适应于中、 小批量生产，可以节省庞大的工件输送装置，
