摘 要 本課題是為普通車床配套而設計的四自由度通用機械手。工業機械手是工業生產的必然產物，它是一種模仿人體上肢的部分功能，按照預定要求輸送工件或握持工具進行操作的自動化技術設備，對實現工業生產自動化，推動工業生產的進一步發展起著重要作用。因而具有強大的生命力受到人們的廣泛重視和歡迎。實踐證明，工業機械手可以代替人手的繁重勞動，顯著減輕工人的勞動強度，改善勞動條件，提高勞動生產率和自動化水平。工業生產中經常出現的笨重工件的搬運和長期頻繁、單調的操作，采用機械手是有效的。此外，它能在高溫、低溫、深水、宇宙、放射性和其他有毒、污染環境條件下進行操作，更顯示其優越性，有著廣闊的發展前途。 本課題通過應用AutoCAD 技術對機械手進行結構設計和液壓傳動原理設計。它能實行自動上料運動；在安裝工件時，將工件送入卡盤中的夾緊運動等。上料機械手的運動速度是按著滿足生產率的要求來設定。 關鍵詞 機械手；四自由度；液壓傳動 Abstract This topic is for general lathe designed to support general-purpose four-DOF manipulator. Industrial robot is an inevitable product of industrial production, it is a part of imitating the human upper limb function, according to requirements of holding a workplace or tool carrier to operate the automation technology equipment, automation of industrial production, and promote the further development of industrial production plays a an important role. Has a great vitality and thus be widely valued and welcomed. Practice has proved that the industrial robot can replace the heavy manual labor, significantly reduced labor intensity and improve working conditions and raise the level of labor productivity and automation. That often appear in industrial production of heavy workplace handling and long-term frequent monotonous operations, the use of mechanical hand to be effective. In addition, it can at a high temperature, low temperature, Sham Shui Po, the universe, radioactive and other toxic pollution of the environment under the conditions of operation, but also to demonstrate its superiority, has broad prospects. AutoCAD this issue through the application of robot technology to design and structural design of hydraulic principle. It is expected the implementation of automatic movement; in the installation of the workplace when the workplace clamping disk into cards and other sports. Feeding velocity of the robot is to meet the productivity requirements according to configure.
