汽車零件加工自動(dòng)線上多功能機(jī)械手設(shè)計(jì)
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- 00346-汽車零件加工自動(dòng)線上的多功能機(jī)械手的設(shè)計(jì).rar
摘 要
本次設(shè)計(jì)的多功能機(jī)械手用于汽車零件加工自動(dòng)線上的設(shè)計(jì)，主要由手爪、手腕、手臂、機(jī)身、機(jī)座等組成，具備上料、翻轉(zhuǎn)和轉(zhuǎn)位等多種功能，并按該自動(dòng)線的統(tǒng)一生產(chǎn)節(jié)拍和生產(chǎn)綱領(lǐng)完成以上動(dòng)作。本機(jī)械手機(jī)身采用機(jī)座式，自動(dòng)線圍繞機(jī)座布置，其坐標(biāo)形式為球坐標(biāo)式，具有立柱旋轉(zhuǎn)、手臂伸縮、手臂俯仰、腕部轉(zhuǎn)動(dòng)和腕部擺動(dòng)4個(gè)自由度。驅(qū)動(dòng)方式為液壓驅(qū)動(dòng)，選用雙泵，共有整機(jī)回轉(zhuǎn)油缸、手臂俯仰油缸、手臂伸縮油缸、手腕擺動(dòng)油缸、手腕回轉(zhuǎn)油缸、手爪夾緊油缸6個(gè)液壓缸。送放機(jī)構(gòu)的液壓驅(qū)動(dòng)系統(tǒng)是由液壓基本回路組成，包括調(diào)壓回路，緩沖回路，調(diào)速回路，換向回路.鎖緊回路，保壓回路。定位采用機(jī)械擋塊定位，定位精度為0.5～1mm，采用行程控制系統(tǒng)實(shí)現(xiàn)點(diǎn)位控制。
關(guān)鍵詞： 機(jī)械手，自動(dòng)線，液壓，設(shè)計(jì) ，點(diǎn)位控制
ABSTRACT
The current design of multifunctional mechanical hand used for R175-type diesel organisms automatic processing line, mainly consist of claw, wrists, arms, body, base and so on. With moving the materials, turnover and transfer spaces, and many other functions, the automatic line with the unified production rhythms and production program completed more moves. With the automatic production line rhythms and the production of complete reunification of the above movements, automatic line is around the machine arrange, the coordinates of the ball coordinates of the form, with huge rotary, extendable arm, arm pitch, hitting and hitting back five moves freedom; Driven approach to hydraulic-driven, and the choice of double leaves pumps, the system pressure to 2.5MPa, 5.5KW electrical power for a total of whole sets of rotation tank, arm tilt cylinders, fuel tanks extendable arm, wrist swing tank, wrist rotation tank, claw clip tank six hydraulic oil tank; positioning a piece of machinery turned positioning, positioning accuracy for 0.5~1mm, using control systems to achieve their point spaces control.
Key words: Mechanical hand, the ball coordinates, hydraulic, mechanical turned pieces, control point spaces
目 錄
1緒論 1
1.1機(jī)械手的概述 1
1.2機(jī)械手的組成與分類 1
1.2.1機(jī)械手的組成 1
1.3機(jī)械手的分類 2
1.3 機(jī)械手的組成 3
2總體方案分析 4
2.1總體方案分析 4
2.2方案的確定 4
2.3動(dòng)作原理 4
2.4 主要技術(shù)指標(biāo) 5
3手部的設(shè)計(jì) 6
3.1手部結(jié)構(gòu) 6
3.2手爪的計(jì)算與分析 6
3.2.1手爪執(zhí)行液壓缸工作壓力計(jì)算 6
3.2.2 手爪的夾持誤差分析與計(jì)算 7
4腕部的設(shè)計(jì) 8
4.1腕部結(jié)構(gòu) 8
4.2 腕部回轉(zhuǎn)力矩的計(jì)算 8
5手臂的設(shè)計(jì) 11
5.1手臂伸縮液壓缸的設(shè)計(jì)計(jì)算 11
5.1.1手臂作水平伸縮直線運(yùn)動(dòng)驅(qū)動(dòng)力的計(jì)算 11
5.1.2手臂垂直升降運(yùn)動(dòng)驅(qū)動(dòng)力的計(jì)算 11
5.1.3確定液壓缸的結(jié)構(gòu)尺寸 12
5.1.4液壓缸壁厚計(jì)算 12
5.1.5活塞桿的計(jì)算 13
5.1.6液壓缸端蓋的聯(lián)接方式與強(qiáng)度計(jì)算 13
5.1.6缸蓋螺釘計(jì)算 13
5.1.7缸體螺紋計(jì)算 14
5.2手臂俯仰運(yùn)動(dòng)的設(shè)計(jì)計(jì)算 15
5.2.1手臂俯仰時(shí)所需的驅(qū)動(dòng)力矩 15
5.2.2缸蓋聯(lián)接螺釘計(jì)算和動(dòng)片聯(lián)接螺釘計(jì)算 16
5.2.3動(dòng)片聯(lián)接螺釘?shù)挠?jì)算 16
6.機(jī)身設(shè)計(jì) 18
6.1機(jī)身結(jié)構(gòu)的計(jì)算 18
6.2機(jī)身設(shè)計(jì)時(shí)應(yīng)注意的事項(xiàng) 19
7機(jī)械手液壓系統(tǒng)的工作原理 20
7.1液壓系統(tǒng)的組成 20
7.2液壓傳動(dòng)系統(tǒng)機(jī)械手的特點(diǎn) 20
7.3油缸泄漏問(wèn)題與密封裝置 20
7.3.1活塞式油缸的泄漏與密封 21
7.3.2回轉(zhuǎn)油缸的泄漏與密封 21
7.4液壓系統(tǒng)傳動(dòng)方案的確定 22
7.4.1各液壓缸的換向回路 22
7.4.2調(diào)整方案 22
7.4.3減速緩沖回路 22
7.4.4系統(tǒng)安全可靠性 23
參考文獻(xiàn) 25
致 謝 26 ...
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