多关节型搬运机械手结构设计

Design for the Structure of Multi-joint Carrying Manipulator

在弹药几何特征量检测过程中,炮弹的吊装以及从测量装置的上下架等过程仍需人工来完成,检测人员疲劳作业、安全系数低、检测周期长,远远不能满足现代武器试验的要求。为此,有必要设计一台能够用于搬运弹药的机械手。本文综合了工作环境和炮弹的各参数后,确定将该机械手设计为多关节型六自由度的通用机械手。设计其手部可按工作需要随时更改,因此该机械手既可用于搬运炮弹,也适用于其他工业场所。本文详细设计了机械手的各部分结构,对腰部电机做了选型,计算了手臂液压缸的相关参数。

In the process of detecting ammunition geometry characteristic quality,the hoisting of projectile and the loading and unloading of measurement device still need to be completed artificially,in which the fatigued operation of detection personnel,the low safety coefficient and the long test cycle are far from meeting the requirement of modern weapons test.Therefore,it is necessary to design a manipulator that can be used to carry ammunition.After integrating the work environment and the parameters of the shells,this paper determines that the design for the manipulator is the general manipulator with multi-joint and six degrees of freedom.Its hand design can be changed whenever necessary,so the manipulator can not only be used for carrying shells,but also be applied to other industrial sites.In addition,it designs the structure for each part of the manipulator in detail,makes a type-selection for the lumbar motor and calculates the relevant parameter of the arm hydraulic cylinder.