毕业论文--机械手夹持器设计.doc

PAGE 7 摘 要 机械手夹持器，它具有夹持物件和剪切缆索的双重功能，适用于有这两种功能需要的机械手，特别适用于水下机械手，可以顺利进行水下作业。本实用新型是在一种普通的机械手夹持器臂上安装一对能剪切的刀片，当手掌闭合运动时，刀片作剪切运动，达到在夹持的同时完成剪切动作。 本文采用手指式夹持器，执行动作为抓紧—放松所要抓紧的工件直径为60-80mm 放松时的两抓的最大距离为150mm，1s抓紧，夹持速度10-20mm/s；工件的最大重量为5kg，材质为45#钢。主要研究内容是分析机械手夹持器的原理；确定夹持器与伸缩臂总体方案；完成驱动结构的设计方案；对总体结构设计、主要部件的受力分析和强度校核；对驱动结构设计方案，原理图，整体结构装配图的设计。 关键词：机械手；夹持器；装配图； ABSTRACT The mechanical arm gripping device, it has a clamping objects and shear cable dual function, applicable to the two functions required mechanical hand, is particularly suitable for underwater manipulator, can smoothly operate under water. The utility model is in a common mechanical hand gripper arm mounted on a pair of cutting blades, when the palm is closed when in motion, the blade shearing movement, achieve in the clamping while completing a shearing action. This paper uses the finger gripper, performing as Clutch - relax to hold the workpiece diameter of60-80mm relaxation time two grasping the maximum distance for150mm,1s clutch, clamping speed 10-20mm / S; the workpiece maximum weight is 5kg, materials for the 45# steel. The main research content is the analysis of manipulator gripper principle; determine the gripper and the telescopic arm to complete the drive scheme; structure design; the overall structure design, the main components of the stress analysis and strength check; to drive structure design, schematic diagram, the overall structure of the design of assembly drawing. Keywords: manipulator; gripper; assembly drawing; 目 录 HYPERLINK \l _Toc16601 摘 要 PAGEREF _Toc16601 3 HYPERLINK \l _Toc24642 ABSTRACT PAGEREF _Toc24642 4 第一章 HYPERLINK \l _Toc14101 引言 7 HYPERLINK \l _Toc9207 1.1 背景及意义 7 HYPERLINK \l _Toc22243 1.1.1论文选题背景 7 HYPERLINK \l _Toc10359 1.1.2 毕业设计的目的 7 HYPERLINK \l _Toc17697 1.2 毕业设计的内容和要求 8 HYPERLINK \l _Toc2471 第2章 夹持器的总体设计 9 HYPERLINK \l _Toc16503 2.1夹持器设计的设计参数 9 HYPERLINK \l _Toc21260 2.2 夹持器夹紧装置设计 9