1目 錄摘 要 ??????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????????I Abstract Ⅱ第 1 章 概述 .11.1 自動(dòng)上下料機(jī)構(gòu)設(shè)計(jì)的背景與目的 11.2 自動(dòng)上下料機(jī)構(gòu)設(shè)計(jì)的意義 3第 2 章 總體方案設(shè)計(jì) .42.1 方案設(shè)計(jì)概述 42.2 驅(qū)動(dòng)方式的確定 .52.3 CK6140 型數(shù)控車床的主要參數(shù) .82.4 總體方案設(shè)計(jì) 92.5 本章小結(jié) .11第 3 章 夾具設(shè)計(jì) .123.1 機(jī)床夾具設(shè)計(jì)概述 123.2 結(jié)構(gòu)設(shè)計(jì) .133.3 氣動(dòng)夾緊裝置設(shè)計(jì)計(jì)算 .173.4 本章小結(jié) .19第 4 章 機(jī)械手設(shè)計(jì) .204.1 運(yùn)動(dòng)分析 .204.2 結(jié)構(gòu)設(shè)計(jì) .214.3 本章小結(jié) .31第 5 章 氣動(dòng)控制系統(tǒng)設(shè)計(jì) .335.1 氣壓傳動(dòng)系統(tǒng)原理圖的擬定 335.2 電氣控制設(shè)計(jì) 345.3 本章小結(jié) .36結(jié) 論 .37致 謝 .382參考文獻(xiàn) .38摘 要針對(duì)數(shù)控車床設(shè)計(jì)的一種套類零件自動(dòng)上下料機(jī)構(gòu)，實(shí)現(xiàn)了坯料的抓取、自動(dòng)定位、夾緊以及工件的回放。該機(jī)構(gòu)主要由自動(dòng)安裝夾具，坯料、工件拾取機(jī)械手，動(dòng)力及控制系統(tǒng)組成。零件的自動(dòng)定位、夾緊由彈簧漲胎心軸實(shí)現(xiàn)，漲胎心軸是以工件的內(nèi)孔表面定位，由氣缸驅(qū)動(dòng)彈性筒夾向外擴(kuò)漲，實(shí)現(xiàn)工件的定位和夾緊的。坯料、工件的拾取、回放是由單臂形式的機(jī)械手通過伸縮、旋轉(zhuǎn)以及俯仰等運(yùn)動(dòng)實(shí)現(xiàn)的，這些運(yùn)動(dòng)均由氣缸驅(qū)動(dòng)獲得。本設(shè)計(jì)中，為實(shí)現(xiàn)工件的自動(dòng)上下料，單臂機(jī)械手的運(yùn)動(dòng)與漲胎心軸的張合需進(jìn)行緊密配合。考慮到所夾持工件的實(shí)際尺寸、質(zhì)量等因素，本機(jī)構(gòu)采用氣動(dòng)、電氣控制實(shí)現(xiàn)了坯料和工件的拾取、安裝、回放過程的自動(dòng)完成。關(guān)鍵詞： 自動(dòng)上下料；氣動(dòng)機(jī)械手；氣動(dòng)夾具；套類零件 3AbstractThis paper is aimed at designing a sleeve parts automatic baiting agencies for a CNC lathe.Its function is processing the crawls, automatic positioning and clamping of the workpiece.The automatic baiting agencies mainly consist of the automatic fixture, the manipulator for picking up the workpiece and billets and the drive and control system.Among them,the automatic positioning and clamping of the sets parts is achieved by the axis fetal heart rate rising to the workpiece centering hole.When clamping the workpiece,flexible tube folder can center and clamp the cylindrical hole through the expansion and inflation;blank grasping of the workpiece and the intervals are achieved by the manipulator arm by stretching and rotating.In the issue,it is necessary for the movements of the manipulator arm and the automatical fixture Zhang to require the coordination.Taking into account that the actual workpiece size,the quality and the various features of the driven approach to the system,we decide to adopt the aerodynamic control,using compressed air to achieve the movements of the clamping fixture and manipulator.Keywords:Automatic baiting;Pneumatic manipulator;Pneumatic fixture;sleeve parts