文档介绍：辽宁科技大学本科生毕业设计第I页回形偏交型手腕及斜楔式夹持器的设计摘要工业机器人自本世纪 60年代初问世以来,已有 80万余台用于世界各国的自动化生产线上,扮演着灵巧自如、不知疲倦“操作者”的角色,替代生产工人出色的完成极其繁重、复杂、精密或者充满着危险的各种各样的工作。不同用途的工业机器人正在工业生产中起到其它机器无法替代的作用。一般机器人由基座、腰、臂、腕和手五部分组成。腰和臂控制手的空间位置,腕控制手的空间姿态,而手则是实现对操作物体的抓放。本文设计的是回形偏交手腕与斜锲式夹持器,根据设计要求本文制定了一个由液压马达控制夹爪松开、用弹簧夹紧物体的设计方案,对手部和腕部进行了结构设计,同时对其主要零部件进行了选择、设计和计算,内容包括电动机的选择计算,弹簧的设计计算,齿轮、带、轴的设计和校核,最后对设计的可行性进行了经济分析,通过分析计算可以得出结论,此次设计基本满足设计要求。关键词:手腕;工业机器人;夹持器;操作机辽宁科技大学本科生毕业设计第 II页 T he wrist enjambment eccentric and carves the type screw clamp slanting design Abstract Since the beginning of 1960s, more than 800000 industrial robots have been used on automatic production lines of many countries all over the world, playing a role dexterous and asa free “ operator ” who has no sense of tire ne ss. It can also plish various works that are very arduous plicated or even full ofdan ger instead of workers .The different application of industry robot s to industrial production is playing an important role of which other machines are unable to take the place . mon robot basically consists of the waist, the arm, the wrist and the hand . Waist and arm control space position, while wrist control s sp ec ial attitude, and the hand is used to realiz e grasping or putting objects . The design oft his article is the wrist enjambment eccentric and carves the type screw clamp slanting. ording to the design requirements a schematic design has been developed with a hydraulic motor contro ll ing the claws from releas ing and using the spring to clamp objects, also it has been carried on the structural design to the hand and wrist, simultaneously conducting the choice, the design and putation to its main spare part content s including the selection of prime mover s, design of spring s, design and check of gear s, belts , and axes. Finally it is proceeding the economic analysis to the feasibility of design proposal .C onclusion s can be draw n through the co mputational analysis and t his design can by and large meet the needs of the