沈阳航空航天大学毕业设计（论文）

摘 要

机械手是自动换刀装置中主要工具，担负着把刀库中的刀具传送到主轴上，然后把主轴上不用的刀具快速返回刀库中。思路是用机械手的动作来实现对加工中心的换刀，机械手的转动是用回转液压缸运来完成的，它的动力是由驱动系统实现。加工中心自动换刀装置，一般是由刀库和机械手组成，它是加工中心的象征，又是加工中心成败的关键环节。各加工中心制造厂家都在下大力研制动作迅速、可靠性高的自动换刀装置，以求在激烈的竞争中取得好效益，自动换刀装置是加工中心的重要内容，各厂家保密，很少公开相关资料，尤其是机械手部分更是如此。这些机械手的拔刀、插刀动作，大都由油缸动作来完成。根据结构要求，可以采用油缸动，活塞固定；或活塞动，油缸固定的形式。整个机械手由机械臂伸缩机构，机械爪开合机构，回转机构及装卸刀具直线运动机构组成。 关键词：加工中心；机械手；刀库；机械臂

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沈阳航空航天大学毕业设计（论文）

Abstract

Manipulator is automatically change tool device the main tool to exchange tool, it bears on the knife library on the tool to spindle, and then the spindle has used tool returns tasks on tool store. Design idea is to use robots to achieve the action machining center, the rotation of the manipulator change cutters are shipped turn hydraulic cylinder, its power is realized by drive system implementation. Machining center, the automatic cutter replacement device is usually composed by knife library and manipulator, it is the symbol of processing center, it is crucial to the success of the processing center link. So the processing center manufactures are developed rapidly next vigorously, high reliability of action, in order to be automatic cutter replacement device in the fierce competition and achieved good benefit, automatically change tool device is the core content of machining center, the manufacturers are confidential, seldom publicly about material, especially manipulator part is even more so. This manipulator, a sword, inserted knife action by oil cylinder action mostly to finish. According to the structural requirement, can use oil cylinder move, piston fixed; Or the piston move, oil cylinder fixed structure. The whole manipulator, by mechanical arm telescopic institution of mechanical claw opening-closing institutions, rotary institutions and loading and unloading tool linear motion mechanism composition.

Key words: machining centre；manipulator；magazine tool；mechanical arm

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沈阳航空航天大学毕业设计（论文）

目录

1绪论 ............................................. 错误！未定义书签。 2机械手主要参数 .................................................... 2 2.1主要参数 ...................................................... 2 2.2规格参数 ..................................... 错误！未定义书签。 3机械手总体设计 .................................................... 4 3.1机械手的布局形式 .............................................. 4 3.2机械手的设计内容 .............................................. 4 4机械手机构设计 ................................... 错误！未定义书签。 4.1机械手手部机构设计要求 ....................... 错误！未定义书签。 4.2机械手手部类型 ............................... 错误！未定义书签。 4.3机械手手臂的机构设计 ......................... 错误！未定义书签。 4.3.1手臂的直线运动机构 ....................... 错误！未定义书签。 4.3.2 手臂回转运动机构 .......................................... 8 4.3.3导向装置 .................................................. 8 5机械手主要部件设计计算 ........................................... 10 5.1机械手装刀与卸刀伸缩时驱动计算 ............................... 10 5.1.1粗算机械手手部质量 ....................................... 11 5.1.2计算单臂液压缸的质量: .................................... 11 5.1.3手臂伸缩运动的惯性力 ..................................... 14 5.1.4手臂伸缩时驱动力计算公式 ................................. 14 5.1.5转轴转动时驱动力矩的计算 ................................. 14 5.1.6计算丝杆驱动力矩 ......................................... 19 6机械手液压系统设计 ............................................... 22 6.1 液压系统的简介 .............................................. 22 6.2机械手液压系统的控制回路 ..................................... 22 6.3液压系统的组成 ............................................... 22 6.3.1 压力控制回路 ............................................ 22 6.3.2 速度控制回路 ............................................ 23

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