i摘要：R175 柴油機機體自動加工線多功能液壓機械手采用活塞液壓缸機構，通過活塞桿的直線運動帶動杠桿機構和手爪，將工件夾緊，完成抓取動作。當液壓缸斷油時，活塞桿通過彈簧復位，從而松開工件。腕部采用葉片式回轉缸機構，葉片帶動機械手回轉軸轉動，完成機械手轉動動作。手臂采用液壓缸和連桿的組合機構，活塞桿與手臂鉸接，通過活塞桿的直線運動來實現(xiàn)俯仰動作。本設計機械手為 R175 型柴油機機體加工自動線上的輔助裝置，能完成上料、轉位和翻轉功能，能夠在球面空間內(nèi)完成送料。關鍵詞：液壓傳動;機構;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 液壓機械手總體方案設計.……………………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)設計校核……………………………………4第 2 章 執(zhí)行機構的設計………………….…….………72.1 機械手抓取機構設計 …………………………………72.2 機械手腕部設計………………………………………182.3 機械手臂部設計………………………………………202.4 機械手底座機身設計…………………………………232.5 回轉工作臺設計………………………………………25第 3 章 液壓驅動、控制系統(tǒng)的設計……………………333.1 液壓驅動回路設計……………………………………333.2 控制系統(tǒng)方案設計……………………………………363.3 液壓泵及液壓原件選擇………………………………373.4 驅動液壓缸選擇………………………………………37參考文獻……………………………………………………39謝辭…………………………………………………………40科技譯文……………………………………………………41