基于十字轴式万向轴的机械手设计

Design of Manipulator Based on Cross Universal Shaft

自动机械手可用于工件的搬运、装卸,机器零部件的组装,在生产中已经得到广泛应用,但在特定工作环境下仍需要对机械手进行人工控制。传统的自动机械手的抓取手采取推杆式结构,无法满足大力矩输出要求。本文设计了一种采用步进电机与传感器相配合的万向轴式机械手。该机械手对传统推杆结构进行了改进,缩短了力矩,减小了力的损耗,从而增大了输出力矩,同时增设步进电机与传感器,便于调节角度,以满足不同工作环境的需求。

Automatic manipulator can be used for the handling and loading of workpieces, the assembly of machine parts, which has been widely used in the production, but it still needs to be controlled manually under the specific working environment. The traditional grab of automatic manipulator adopts push rod structure, which can not meet the requirement of large torque output. In this paper, a kind of universal shaft manipulator was designed, which used stepping motor and sensor. The manipulator improves the traditional push rod structure, shortens the torque, reduces the loss of force, and increases the output torque. At the same time, a stepping motor and a sensor were added to facilitate the adjustment of the angle, so as to meet the needs of different working environments.