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工業(yè)機(jī)械手液壓系統(tǒng)設(shè)計(jì).doc
工業(yè)機(jī)械手裝配圖.dwg
文件清單.txt
液壓原理圖.dwg
電氣控制原理圖.dwg
摘 要
工業(yè)機(jī)械手是現(xiàn)代機(jī)械化的一種新型生產(chǎn)方式,同時(shí)也是智能自動(dòng)化研發(fā)出來(lái)的新型設(shè)備?,F(xiàn)今隨著科學(xué)技術(shù)的迅猛發(fā)展,機(jī)械手的原理及應(yīng)用技術(shù)越來(lái)越受到重視,在當(dāng)代工業(yè)工廠的生產(chǎn)制造中,工業(yè)機(jī)器人已經(jīng)全面應(yīng)用于車(chē)間的自動(dòng)化流水線,因而,人們開(kāi)始日趨迫切的對(duì)機(jī)器人進(jìn)行研究改造。其中,液壓機(jī)械手用途最為廣泛,所以本次對(duì)機(jī)械手的液壓系統(tǒng)進(jìn)行設(shè)計(jì)。
在液壓驅(qū)動(dòng)機(jī)構(gòu)中,所述機(jī)械手的手臂伸縮和升降均采用了雙作用活塞液壓缸并由導(dǎo)向桿導(dǎo)向,以確保機(jī)械手的運(yùn)動(dòng)精度,手腕的旋轉(zhuǎn)采用擺動(dòng)式液壓缸(回轉(zhuǎn)油缸),機(jī)械手的手臂旋轉(zhuǎn)和手爪夾持被采用齒條活塞式液壓缸。
本課題通過(guò)對(duì)機(jī)械手和液壓傳動(dòng)原理的應(yīng)用技術(shù)設(shè)計(jì),對(duì)工業(yè)機(jī)械手的液壓系統(tǒng)的分類(lèi),結(jié)構(gòu),特性,受力等方面進(jìn)行分析,并分析液壓系統(tǒng)的工作原理。具有液壓系統(tǒng)結(jié)構(gòu)的機(jī)械手機(jī)器人可以在空間中靈活抓取移動(dòng)物體,并且操作自由度很高,可以在高溫和危險(xiǎn)的位置作業(yè),從而減少人力,并大大促進(jìn)生產(chǎn)節(jié)奏。
關(guān)鍵字: 機(jī)械手;液壓系統(tǒng);自由度
ABSTRACT
Industrial manipulator is a new mode of production of modern mechanization, and also a new kind of equipment developed by intelligent automation. Nowadays with the rapid development of science and technology, more attention paid to the principle and application technology of the manipulator, in modern industrial factory production and manufacturing, industrial robots have been comprehensively applied in the workshop of the automated assembly line, as a result, people began to study has become increasingly urgent for robots. The hydraulic system is the most widely used, so the hydraulic system is designed.
Described in hydraulic driving mechanism, the manipulator arm scaling and lift adopts the double-acting piston hydraulic cylinder and the guide rod guide, to ensure the movement precision of the manipulator, the rotation of the wrist with oscillating hydraulic cylinders (rotary cylinder), manipulator arm rotation and gripper clamping used rack piston hydraulic cylinder.
This topic through the application of the principle of the mechanical and hydraulic transmission technology design, the classification of the hydraulic system of industrial manipulator structure, characteristics, stress analysis, and analyses the working principle of the hydraulic system. With the hydraulic system of the structure of the manipulator robot can flexible scraping of the moving objects in space, and a high degree of freedom to operate, can be in high temperature and position of dangerous operation, reducing manpower, and greatly promote production rhythm.
Keywords: manipulator; The hydraulic system; degree of freedom
目錄
1 緒論 1
1.1 選題背景及其意義 1
1.2 國(guó)內(nèi)外研究現(xiàn)狀與發(fā)展趨勢(shì) 1
1.2.1國(guó)內(nèi)的研究現(xiàn)狀 1
1.2.2國(guó)外研究現(xiàn)狀 2
1.3液壓技術(shù)的現(xiàn)狀及發(fā)展趨勢(shì) 2
2機(jī)械手液壓系統(tǒng)概述和計(jì)算 3
2.1 手臂伸縮液壓缸的設(shè)計(jì)計(jì)算 3
2.1.1伸縮液壓缸驅(qū)動(dòng)力計(jì)算 3
2.1.2伸縮液壓缸的結(jié)構(gòu)尺寸確定 4
2.2手臂垂直升降液壓缸的設(shè)計(jì)計(jì)算 7
2.2.1 垂直升降液壓缸驅(qū)動(dòng)力的計(jì)算 7
2.2.2升降液壓缸的結(jié)構(gòu)尺寸的確定 8
2.3手臂回轉(zhuǎn)齒條活塞液壓缸的設(shè)計(jì)計(jì)算 9
2.3.1齒條活塞液壓缸驅(qū)動(dòng)力的計(jì)算 9
2.3.2齒條活塞液壓缸結(jié)構(gòu)尺寸的確定 10
2.4手腕回轉(zhuǎn)液壓缸的設(shè)計(jì)計(jì)算 10
2.5手爪夾合液壓缸的設(shè)計(jì)計(jì)算 11
3工業(yè)機(jī)械手液壓系統(tǒng)的工作原理 13
3.1液壓原理簡(jiǎn)圖 13
3.2確定液壓系統(tǒng)的工作要求 14
3.3擬定液壓系統(tǒng)原理圖 15
3.3.1液壓系統(tǒng)原理圖 15
3.3.2電磁鐵工作狀態(tài)表 15
3.3.3液壓系統(tǒng)工作原理 16
3.3.4液壓系統(tǒng)特點(diǎn)分析: 19
3.3.5電氣控制系統(tǒng)原理圖 20
3.3.6電氣控制系統(tǒng)工作原理 21
3.3.7電氣系統(tǒng)特點(diǎn)分析: 23
4液壓系統(tǒng)的設(shè)計(jì) 24
4.1設(shè)計(jì)方案 24
4.1.1 液壓回路的選擇 24
4.2系統(tǒng)工作壓力的選擇 25
4.3 液壓元件的選擇 25
4.3.1 液壓泵的選擇 25
4.3.2 液壓泵所需液壓馬達(dá)的確定 26
4.3.3 液壓閥的選擇 27
4.3.4 液壓輔助元件的選擇原則 28
4.3.5 管道尺寸的確定 28
4.3.6 油箱容量的確定 29
5 總結(jié) 31
致 謝 32
參考文獻(xiàn) 33