In China, where wages are low, although the manufacturing industry is still labor-intensive, the use of robots has become more and more popular. It has been a long time since European and American multinational companies in the electronics and automobile industries introduced automated production into their factories in China. However, the change now is that the local manufacturers in China, located in the coastal areas of South China and East China, have begun to show more and more interest in the manipulator, because they have to face the challenges brought by the high turnover rate of workers and the shortened delivery cycle.

The manipulator can ensure the consistency of operation cycle and improve the quality. In addition, it is not only stable but also safer to let the manipulator take out the parts from the mold instead of ordinary workers. At the same time, the continuous development of mold technology also provides more market opportunities for manipulators.

It can be seen that with the progress of science and technology and the development of the market, the wide application of robots has gradually become possible. In the future manufacturing industry, more and more robots will be used and better robots will be created. It is no exaggeration to say that robots are a symbol of human progress towards advanced manufacturing, modernization and high technology. Therefore, how to design a manipulator with stable structure and powerful function has become an urgent problem.

catalogue

I. Design requirements and functional analysis 4

2. Design and strength check of axis 5 of base rotating mechanism

3. Design and strength check of hydraulic pump pitching mechanism Part VIII

4. Left and right slewing mechanism 1 1 Part design and strength check

5. Design and strength check of wrist pitch mechanism 14 parts

Intransitive verb 19 Design and strength check of parts of rotary clamping mechanism

Seven. Connection process of each degree of freedom of mechanism 25

Eight. Design feature 28

Nine. Experience 28

X. references 30

XI。 Division of tasks 3 1

Twelve. Appendix (Parts and Assembly Drawings) 3 1

design requirements

The mechanical arm is used to grab and transfer items on the logistics production line. The whole mechanical arm is mounted on a slewing support, and the slewing angle range is 360 degrees; The forearm can swing relative to the arm, and the swing range is 60- 120 degrees; The wrist at the end of the forearm can also swing from -60 degrees to +60 degrees; A manipulator is mounted at the end of the wrist. The manipulator has the opening and closing ability, and is used to grab workpieces with a diameter of 30-45 mm, a length of 350 mm and a weight of 8 kg.

functional analysis

The system has six degrees of freedom, namely, clamping, rotating, pitching (1), swinging left and right, pitching (2) and rotating the base.

The rotational freedom of the base can rotate 360 degrees; The pitching mechanism (including hydraulic cylinder) connected with the base can pitch with a large amplitude, which can meet the pitching requirements of 60- 120 degrees. The connecting part is the left-right swinging mechanism, which can swing back and forth from -60 to 60 degrees, followed by the pitching mechanism, which can also pitch up and down from -60 to 60 degrees, and finally the rotating part. The mechanism adopts hydraulic pressure to control the movements of each degree of freedom, which is simple, convenient and powerful. The degrees of freedom are interrelated and independent, and they do not interfere with each other when acting.