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本文对工业机器人的臂部和手部进行了结构分析，并对其和其驱动装置都进行了选择。在这些结构设计完成之后，主要是对其工作原理和执行结构进行了设计及其计算。确定出各个部件的结构及其尺寸，回转装置采用的是齿条式液压缸带动齿轮及轴的移动，从而带动大手臂的回转，小手臂液压缸采用的是双作用活塞套式油缸，在设计之前首先对液压缸的种类进行了简单的介绍，对所要采用的缸的结构及零件进行了分析，并且对油缸的密封，排气装置等部分进行了简单的介绍，对液压缸的各个部件进行计算、选择。手臂部件(简称臂部或手臂)是机械手的主要执行部件。它的作用是支承腕部和手部(包括工件或工具)，并带动它们在空间运动。所以，手指的伸缩依靠与手指的伸缩油缸活塞杆相连接的轴的上下运动而实现。
在这个阶段的设计过程中，总共画了三张装配图，若干张零件图。装配图是手部结构装配图、手臂结构装配图、回转装置装配图，零件图画了手部的零件。
关键词：机械手 臂部和机身设计 液压传动 回转装置
In this paper, the arm and hand of robot were analyzed, and the and the driving device are carried out to select. After the completion of the structure design, mainly for its working principle and structure of design and calculation. To determine the structure and size of each components, rotary device is driven to move the rack type hydraulic cylinder gear and shaft, which drives the rotary big arm, small arm hydraulic cylinder is used in a double acting piston type oil cylinder, in the design before the first type of hydraulic cylinder were introduced, and the structure of parts of the cylinder were analyzed, and the sealing oil cylinder, exhaust device part is simply introduced, calculation, select each parts of hydraulic cylinder. The arm member (referred to as the arm or arms) is the main component of manipulator. Its role is to support the wrist and hand (including the workpiece or tool), and drives them moving in space. So, stretching fingers on the telescopic oil cylinder piston rod and the finger connected to the shaft to move up and down and implementation.
At this stage in the design process, a total of three pieces of assembly drawing painting, several parts diagram. Assembly is the hand structure assembly drawings, assembly arm structure, rotating device assembly drawing, part drawing hand parts.
Keywords: manipulator arm and body design of hydraulic drive rotary device
摘要Ⅰ
