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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 本課題的研究內(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