電動(dòng)機(jī)座加工自動(dòng)線卸料機(jī)械手設(shè)計(jì)【液壓驅(qū)動(dòng) 二自由度圓柱坐標(biāo)式】

喜歡這套資料就充值下載吧。資源目錄里展示的都可在線預(yù)覽哦。下載后都有，請(qǐng)放心下載，文件全都包含在內(nèi)，圖紙為CAD格式可編輯，有疑問咨詢QQ:414951605 或 1304139763p 目錄 摘要.............................................................................................................................2 ABSTRACT...............................................................................................................3 目錄............................................................................................................................4 1 緒論............................... ..... ................................................................................................... 6 1.1 研究背景及發(fā)展現(xiàn)狀 .........................................................................................................6 1.2 本課題研究目的及意義.........................................................................................................8 1.3 本課題的研究?jī)?nèi)容.................................................................................................................9 2 機(jī)械手的總體計(jì)....................................................................................................9 2.1 總體方案的比較與選定........................................................................................................9 2.1.1 各種坐標(biāo)形式機(jī)械手的比較.............................................................................................9 2.1.2選定的兩個(gè)機(jī)械手方案的概述及比較...............................................................................12 2.2 機(jī)械手的組成及各部分關(guān)系概述........................................................................................16 2.2.1 執(zhí)行機(jī)構(gòu).............................................................................................................................17 2.2.2 驅(qū)動(dòng)機(jī)構(gòu).............................................................................................................................17 2.2.3 控制系統(tǒng).............................................................................................................................18 2.3 機(jī)械手的主要參數(shù)................................................................................................................19 2.3.1 機(jī)械手的主要技術(shù)參數(shù).....................................................................................................19 2.3.2 機(jī)械手的主要規(guī)格參數(shù).....................................................................................................19 3 機(jī)械手機(jī)械系統(tǒng)的設(shè)計(jì) ......................................................................................20 3.1 手部的設(shè)計(jì)............................................................................................................................20 3.1.1 手部結(jié)構(gòu)的設(shè)計(jì).................................................................................................................20 3.1.2 手部的計(jì)算與分析.............................................................................................................21 3.2 臂部........................................................................................................................................25 3.2.1 手臂不自鎖條件................................................................................................................ 26 3.2.2 手臂回轉(zhuǎn)缸結(jié)構(gòu)設(shè)計(jì).........................................................................................................26 3.2.3 大手臂相關(guān)參數(shù)計(jì)算.........................................................................................................27 3.2.4 手臂伸縮缸的結(jié)構(gòu)設(shè)計(jì) ...............................................................................................35 3.2.5 手臂伸縮缸的設(shè)計(jì)計(jì)算.....................................................................................................35 4 機(jī)械手的液壓驅(qū)動(dòng)系統(tǒng)的設(shè)計(jì)...........................................................................42 4.1 程序控制機(jī)械手的液壓系統(tǒng)................................................................................................42 4.2 液壓系統(tǒng)傳動(dòng)方案的確定....................................................................................................42 4.2.1 各液壓缸的換向回路.........................................................................................................42 4.2.2 調(diào)速方案.............................................................................................................................43 4.2.3 減速緩沖回路.....................................................................................................................44 4.2.4 調(diào)壓回路.............................................................................................................................45 4.2.5液壓系統(tǒng)的合成與完善.......................................................................................................46 5 機(jī)械手的PLC控制設(shè)計(jì)........................................................................................48 5.1 運(yùn)動(dòng)控制方式的選擇............................................................................................................48 5.2 輸入輸出觸點(diǎn)的分配............................................................................................................49 5.2.1 行程開關(guān)的分配.................................................................................................................49 5.2.2 手動(dòng)按鈕分配.....................................................................................................................50 5.3 外部接線圖............................................................................................................................50 5.4 控制面板設(shè)計(jì)........................................................................................................................51 5.5 卸料機(jī)械手電氣控制圖........................................................................................................52 5.6 電氣系統(tǒng)工作流程圖原理....................................................................................................54 致 謝...........................................................................................................................57 參考文獻(xiàn) ...................................................................................................................59