i摘要：R175 柴油機(jī)機(jī)體自動加工線多功能液壓機(jī)械手采用活塞液壓缸機(jī)構(gòu)，通過活塞桿的直線運(yùn)動帶動杠桿機(jī)構(gòu)和手爪，將工件夾緊，完成抓取動作。當(dāng)液壓缸斷油時，活塞桿通過彈簧復(fù)位，從而松開工件。腕部采用葉片式回轉(zhuǎn)缸機(jī)構(gòu)，葉片帶動機(jī)械手回轉(zhuǎn)軸轉(zhuǎn)動，完成機(jī)械手轉(zhuǎn)動動作。手臂采用液壓缸和連桿的組合機(jī)構(gòu)，活塞桿與手臂鉸接，通過活塞桿的直線運(yùn)動來實(shí)現(xiàn)俯仰動作。本設(shè)計(jì)機(jī)械手為 R175 型柴油機(jī)機(jī)體加工自動線上的輔助裝置，能完成上料、轉(zhuǎn)位和翻轉(zhuǎn)功能，能夠在球面空間內(nèi)完成送料。關(guān)鍵詞：液壓傳動;機(jī)構(gòu);動作 iiAbstract: The hydraulic mechanical hand installed on the production line is used for producing the R175-type diesel engine block, the mechanical hand uses telescopic hydraulic cylinder mechanism, it will clamp the workpiece tightly through piston rod’s linear motion which can drive leverage and gripper. Piston rod will reset by the force of the sping, and the workpiece will be released, when the oil is cut off . The wrist is equipped with vanetype rotary cylinder. so, manipulator moves with the axis of rotation when driven by the vanes, completing its translocation movement .The arm is a combination of hydraulic cylinder and connecting rod ,and the piston rod is hinged on the arm.So the mechnical hand can achieve the pitching movement throught the piston rod’s linear motion .The design of the mechnical hand is a piece of auxiliary facility for automatic online processing of the R175-type diesel,which can feed, translocate and turn,what’s more, it can feed in a spherical space.Keyword ： Hydraulic cylinder；Mechanism ；Movementiii目 錄前言…………………………………………………………1第 1 章 液壓機(jī)械手總體方案設(shè)計(jì).……………………21.1 總體方案的擬定…………………………………………21.2 總體方案的選定………………………………………31.3 主要參數(shù)設(shè)計(jì)校核……………………………………4第 2 章 執(zhí)行機(jī)構(gòu)的設(shè)計(jì)………………….…….………72.1 機(jī)械手抓取機(jī)構(gòu)設(shè)計(jì) …………………………………72.2 機(jī)械手腕部設(shè)計(jì)………………………………………182.3 機(jī)械手臂部設(shè)計(jì)………………………………………202.4 機(jī)械手底座機(jī)身設(shè)計(jì)…………………………………232.5 回轉(zhuǎn)工作臺設(shè)計(jì)………………………………………25第 3 章 液壓驅(qū)動、控制系統(tǒng)的設(shè)計(jì)……………………333.1 液壓驅(qū)動回路設(shè)計(jì)……………………………………333.2 控制系統(tǒng)方案設(shè)計(jì)……………………………………363.3 液壓泵及液壓原件選擇………………………………373.4 驅(qū)動液壓缸選擇………………………………………37參考文獻(xiàn)……………………………………………………39謝辭…………………………………………………………40科技譯文……………………………………………………41