油泵凸輪軸加工自動(dòng)線機(jī)械手.doc

目錄畢業(yè)設(shè)計(jì)說明書設(shè)計(jì)題目：油泵凸輪軸加工自動(dòng)線機(jī)械手學(xué)生姓名： 學(xué) 號(hào)：專業(yè)班級(jí)： 學(xué) 部：指導(dǎo)教師：本設(shè)計(jì)包含說明書及CAD圖紙 QQ229780692 目錄摘要Abstract21 工業(yè)機(jī)械手概述31.1 工業(yè)機(jī)械手的組成31.1.1 執(zhí)行機(jī)構(gòu)31.1.2 驅(qū)動(dòng)系統(tǒng)31.1.3 控制系統(tǒng)41.2 工業(yè)機(jī)械手的分類41.3工業(yè)機(jī)械手的自由度及座標(biāo)型式41.3.1 工業(yè)機(jī)械手的自由度41.3.2 工業(yè)機(jī)械手的座標(biāo)型式41.4 工業(yè)機(jī)械手的規(guī)格參數(shù)51.5 機(jī)械手的控制61.5.1控制的內(nèi)容61.5.2 控制方法和種類61.5.3 行程控制傳感器71.5.4 行程開關(guān)的分類71.5.5電氣控制系統(tǒng)意義82 手部結(jié)構(gòu)設(shè)計(jì)92.1 對(duì)手部的要求92.2手部設(shè)計(jì)方案92.3 夾緊手部設(shè)計(jì)102.4 定位手部設(shè)計(jì)112.5 手指的材料113 手臂結(jié)構(gòu)的設(shè)計(jì)123.1 手臂的要求123.2手臂的運(yùn)動(dòng)形式設(shè)計(jì)123.3手臂的組成部分133.4導(dǎo)向桿設(shè)計(jì)133.5行程開關(guān)設(shè)計(jì)133.6手臂直線運(yùn)動(dòng)的結(jié)構(gòu)143.7手臂的設(shè)計(jì)計(jì)算144. 驅(qū)動(dòng)方式的設(shè)計(jì)164.1 驅(qū)動(dòng)方式的選擇164.2液壓系統(tǒng)的組成164.3 液壓系統(tǒng)設(shè)計(jì)概述174.3.1液壓元件的計(jì)算和選擇和執(zhí)行元件的結(jié)構(gòu)形式及參數(shù)的確定174.3.2選擇液壓泵194.3.3選擇閥類元件214.3.4 選擇液壓輔助元件214.3.5 液壓系統(tǒng)的一般設(shè)計(jì)步驟224.4 液壓驅(qū)動(dòng)系統(tǒng)計(jì)算245液壓缸及其組件的計(jì)算255.1 直線驅(qū)動(dòng)缸的移動(dòng)速度計(jì)算255.1.1液壓缸概述255.1.2雙桿活塞缸的基本參數(shù)計(jì)算255.1.3直線驅(qū)動(dòng)缸的速度計(jì)算265.2 直線驅(qū)動(dòng)油缸主要尺寸的確定285.2.1 油缸內(nèi)徑D的計(jì)算285.2.2 油缸長度L的確定305.2.3 油缸外徑或臂厚的確定305.2.4 活塞桿的直徑計(jì)算315.2.5 本機(jī)械手的油缸參數(shù)325.2.6 油缸結(jié)構(gòu)設(shè)計(jì)時(shí)注意的幾個(gè)問題325.3 油泵電動(dòng)機(jī)的功率計(jì)算335.3.1 確定油泵的工作壓力335.3.2 確定油泵的流量345.3.3 液壓泵的確定與所需功率的計(jì)算345.3.4確定油泵所需要的電動(dòng)機(jī)功率365.4 缸筒和缸蓋375.4.1缸筒和缸蓋連接形式375.4.2缸體、缸底、端蓋和導(dǎo)向套材料385.4.3 活塞組件385.4.4 活塞與活塞桿的連接方式385.4.5密封圈396. 液壓系統(tǒng)工作原理406.1 液壓系統(tǒng)的控制調(diào)節(jié)裝置406.1.1 閥的種類和功用406.1.2閥類的選擇原則416.2 蓄能器的選擇416.3管道的選擇426.4油箱的設(shè)計(jì)436.5濾油器的選擇446.6液壓系統(tǒng)性能的驗(yàn)算446.7繪制正式工作圖和編寫技術(shù)文件476.8液壓系統(tǒng)工作原理48結(jié)論50致謝51參考文獻(xiàn)52附錄A 設(shè)計(jì)圖紙53摘要摘要本課題研究的是油泵凸輪軸加工自動(dòng)線機(jī)械手，它用來完成零件的上下料及工序間的輸送等工作，能減輕工人的勞動(dòng)強(qiáng)度，顯著提高勞動(dòng)生產(chǎn)率。該機(jī)械手為懸掛式結(jié)構(gòu)，具有三個(gè)自由度。一只上料機(jī)械手負(fù)責(zé)上料，六只送料機(jī)械手同時(shí)完成各工序之間對(duì)凸輪軸的傳送和安裝。送料機(jī)械手和帶滾輪的三角形支架聯(lián)結(jié)后懸掛在橫梁上實(shí)現(xiàn)前后運(yùn)動(dòng)。手臂運(yùn)動(dòng)形式為直角坐標(biāo)式，機(jī)械手可作上下伸縮、前后和橫移運(yùn)動(dòng)。其上下升降量為350mm，水平前后移動(dòng)1800mm，橫移最大50mm?？紤]到體積、重量、慣性、傳動(dòng)平穩(wěn)性、易于控制、運(yùn)動(dòng)位置精度等因素，驅(qū)動(dòng)方式采用了液壓驅(qū)動(dòng)，液壓缸與手臂做成一體從而簡化了機(jī)械手結(jié)構(gòu)。在滿足要求的前提下，為使結(jié)構(gòu)簡化，將手部結(jié)構(gòu)設(shè)計(jì)成彈簧式，其握力來源于彈性元件的彈性變形。該機(jī)械手的控制采用繼電線路固定程序控制，定位方式為機(jī)械擋塊式。文中對(duì)機(jī)械手手部和手臂結(jié)構(gòu)進(jìn)行了詳細(xì)分析，并畫出了零件圖和裝配圖，在此基礎(chǔ)上重點(diǎn)計(jì)算了油缸的主要參數(shù)，同時(shí)對(duì)液壓系統(tǒng)工作原理進(jìn)行了闡述。關(guān)鍵詞：機(jī)械手；直角坐標(biāo)懸掛式；液壓驅(qū)動(dòng)；彈性手指；機(jī)械擋塊AbstractAbstractWhat this topic research is the oil pump cam shaft processing from the generatrix manipulator, it uses for to complete the components about to anticipate working procedure work and so on transportation, can reduce workers labor intensity, obviously raises the labor productivity.This manipulator is the hanging structure, has three degrees-of-freedom. A high-quality goods manipulator is responsible for the high-quality goods, six feeding manipulators simultaneously complete between various working procedures to cam shafts transmission and the installment, after the feeding manipulator and the belt hoop triangle support joint, around is hanging realizes the movement on the crossbeam. The arm movement form for the rectangular coordinates type, the manipulator may make the high and low expansion, around and moves to the movement horizontally. Its high and low fluctuation quantity is 350mm, level shuttle 1800mm, moves to biggest 50mm horizontally. Considered the volume, the weight, the inertia, the transmission stability, easy to control, factors and so on traveling position precision, the drive type have used the hydraulic pressure actuation, the hydraulic cylinder and the arm make a body, thus simplified the manipulator structure. In satisfies the request under the premise, to cause the structure to simplify, the hand structural design spring type, its power of gripping originates from elastic elements elastic deformation. This manipulators control uses following the electric wire fixed routine control, the locate mode for the mechanical stop piece type.In the article has carried on the multianalysis to the manipulator hand and the arm structure, and has drawn the detail drawing and the assembly drawing, based on this has calculated cylinders main parameter with emphasis, simultaneously has carried on the elabo