自動上料機械手設(shè)計【立式精鍛機配套自動送取鍛料設(shè)備】【圓柱坐標式】【全液壓驅(qū)動】【4個自由度】【夾持外圓件】,立式精鍛機配套自動送取鍛料設(shè)備,圓柱坐標式,全液壓驅(qū)動,4個自由度,夾持外圓件,自動上料機械手設(shè)計【立式精鍛機配套自動送取鍛料設(shè)備】【圓柱坐標式】【全液壓驅(qū)動】【4個自由度】【夾持外圓件】,自動,機械手
摘 要
隨著科學技術(shù)的發(fā)展,人類社會進入了一個以自動化和電子技術(shù)為標志的新時代。自動化機械大量應(yīng)用于工業(yè)工程中,其中工業(yè)機械手的應(yīng)用最為廣泛。工業(yè)機械手是一種模仿人手動作的機器,可以取代很多的人工操作,并可以取得更高的效率。
本文介紹了用于夾持外圓件的上下料機械手的設(shè)計。它采用液壓驅(qū)動,點位程序控制,動作平穩(wěn),控制方便。
本文主要闡述該機械手的升降和回轉(zhuǎn)的設(shè)計和計算。首先從機械手的基礎(chǔ)知識介紹有關(guān)機械手的組成、分類、腕部及臂部設(shè)計、液壓控制的多種方案,再從本次設(shè)計所要求的功能原理設(shè)計開始,對于不同的方案加以比較和論證,從中可確定出最優(yōu)方案,并采用其方案,在對其的結(jié)構(gòu)設(shè)計的基礎(chǔ)上,對其驅(qū)動力和驅(qū)動力力矩進行計算。著重闡述了機身的設(shè)計,具體闡述了機械手的設(shè)計原則和步驟,分析了設(shè)計時應(yīng)注意的問題,并對機械手的平穩(wěn)性及定位精度給予詳細的論述。設(shè)計并分析了該機械手所用的液壓控制的方法和過程。由于經(jīng)驗不足,知識有限,難免有誤,有待改進。
關(guān)鍵詞 機械手;液壓;驅(qū)動力;定位精度
ABSTRACT
With the development of technology, the human society entered a modern ear for with automation with electronics technique for marking. Automation machine large quantity is applied in industry engineering inside, among them the application of the industry machine hand is the most extensive. The industry machine of a kind of mimicry hand action, can replace a lot of artificials operate, combining can obtain the higher efficiency.
This thesis introduces to used for clipping to hold the outside circle a design for and down anticipating machine hand. It adopts the liquid presses to drive, ordering a procedure control, acting steady, control convenience.
This thesis expatiates the rise and fall of the machine’s hand primarily with the design of the turn-over with compute. Constitute, divide into section form the relevant machine in introduction in knowledge in foundation of the machine hand first, wrist a various projects for and arm department designing, liquid pressing control, start from this design a function for requesting principle, take into the comparison to the different project with the argument, can make sure the superior project from the inside, combine to adopt its project, in as to it’s of the foundation of the construction design, as to it’s driver force and moment proceed the calculation. Emphasize the design that expatiated the fuselage, expatiated the design principle of the machine hand in a specific way with the step, analyzed the problem of design should notice, and give to the steady and fixed position accuracy of the machine hand detailed treatise. Because of experience shortage, the knowledge is limited, difficult do not need the mistake, treat to improve.
Key phrase manipulator; liquid presses; driving force; fixed position accuracy
目 錄
摘要 ………………………………………………………………………… I
緒論 ………………………………………………………………………… 1
1 工業(yè)機械手的概述 ………………………………………………… 3
1.1 工業(yè)機械手的分類 ……………………………………………… 3
1.2 工業(yè)機械手的組成 ……………………………………………… 4
1.3 機械手的自由度和坐標形式 ……………………………………… 5
2 自動上下料機械手的總功能原理及各部分設(shè)計 …………………… 7
2.1 功能原理設(shè)計 ……………………………………………………… 7
2.2 手部設(shè)計 …………………………………………………………… 7
2.2.1手部設(shè)計要求 ………………………………………………… 8
2.2.2手部結(jié)構(gòu) ……………………………………………………… 8
2.2.3 夾持式手爪的計算 …………………………………………… 11
2.3、腕部設(shè)計 ………………………………………………………… 13
2.3.1 腕部設(shè)計要求 ………………………………………………… 13
2.3.2 腕部結(jié)構(gòu) ……………………………………………………… 14
2.4 臂部設(shè)計 ………………………………………………………… 15
2.4.1臂部的設(shè)計要求 ……………………………………………… 15
2.4.2臂部的結(jié)構(gòu) …………………………………………………… 20
2.4.2.1 臂部的伸縮運動結(jié)構(gòu) ………………………………… 20
2.4.2.2 臂部的伸縮油缸的計算 ……………………………… 21
2.4.2.3 臂部的回轉(zhuǎn)運動 ……………………………………… 23
2.4.2.4 臂部的升降運動 ……………………………………… 24
2.4.2.5 臂部升降油缸的計算 …………………………… 25
3 機械手的其它部分裝置……………………………………………… 28
3.1 行程限位裝置 ……………………………………………… 28
3.2 緩沖定位裝置 ……………………………………………… 28
4 機械手的總體方案總結(jié) ………………………………………………… 30
4.1 傳動方案的確定 ………………………………………………… 30
4.2 規(guī)格參數(shù) …………………………………………………… 30
4.3 結(jié)構(gòu)特點 …………………………………………………… 30
4.4 機械手的液壓傳動系統(tǒng) …………………………………… 32
4.5 機械手的緩沖與定位 ……………………………………… 34
參考文獻 ………………………………………………………… 35
致謝 ……………………………………………………………… 36
附錄
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