单臂回转式机械手机械系统的设计(4)

第一章 序言

The design of the mechanical system of the Single Arm Rotary

Manipulator

Abstract During the industrial production, the manipulator can substitute the heavy working of the workers, which can undergo the hazardous conditions, to realize the mechanization and automation of the production. According to these, the manipulator can ensure the personal safety, improve the effectives of the production and ameliorate the working conditions of workers. In many aspects, the manipulators reflect its irreplaceable advantages to be used widely in the industrial production. The manipulator designed in this paper is a single arm rotary manipulator, which requires the manipulator to move a kilogram of the iron from one platform to another, the rotation angle is 90 degrees. As the selection of the manipulator’s structure is diversification, we can choose the cylindrical coordinate type, or we can choose the more complex one, the ball coordinate type or the joint type. According to the design and the selection of the motion part structure of the manipulator, and the determined clamping way, we define the overall structure of the manipulator, which including a pneumatic cylinder and two hydraulic cylinders which are mutually parallel, an electromagnet adsorbing device, bearing and a base. The hydraulic cylinders are respectively used for the lifting movement and the pneumatic cylinder is for the turning movement. The holder’s main part is an adsorption type of the electromagnet. In this paper, the designed manipulator has following advantages: the motion is fixed, the structure is simple, the reliability is high and the manipulator is easy to assemble and disassemble. The manipulator can be used in the related mechanical design and hydraulic course for the experiment teaching, as the demonstration and disassembly practice.

Keywords: manipulator, cylindrical coordinate type, hydraulic cylinder, pneumatic cylinder, absorption