液壓式機(jī)械手設(shè)計(jì)


1 緒論………………………………………………………………… 1
1.1機(jī)械手的分類……………………………………………………… 2
1.2機(jī)械手的組成……………………………………………………… 4
1.3應(yīng)用機(jī)械手的意義 ……………………………………………… 6
2 總體技術(shù)方案及系統(tǒng)的組成 ……………………………………… 8
2.1原始數(shù)據(jù) ………………………………………………………… 8
2.2工作要求 ……………………………………………………………8
2.3系統(tǒng)組成 ………………………………………………………… 8
2.4總體技術(shù)方案 …………………………………………………… 9
2.4.1動(dòng)作分析………………………………………………………9
2.4.2手部…………………………………………………………10
3 機(jī)械手的液壓部分………………………………………………… 11
3.1 液壓系統(tǒng)的工作原理………………………………………………11
3.2 液壓傳動(dòng)的工作特性………………………………………………11
3.3 液壓系統(tǒng)的組成……………………………………………………11
3.4 液壓系統(tǒng)的優(yōu)、缺點(diǎn)………………………………………………12
3.5液壓系統(tǒng)原理圖……………………………………………………14
3.6液壓系統(tǒng)電磁鐵動(dòng)作順序表………………………………………14
3.7液壓系統(tǒng)工作原理…………………………………………………15
4 回轉(zhuǎn)裝置的總體組成及結(jié)構(gòu)設(shè)計(jì)………………………………… 18
4.1回轉(zhuǎn)裝置組成………………………………………………………18
4.1.1執(zhí)行件………………………………………………………18
4.1.2傳遞件………………………………………………………18
4.1.3驅(qū)動(dòng)件………………………………………………………18
4.1.4控制系統(tǒng)……………………………………………………19
5 機(jī)械傳動(dòng)方案………………………………………………………20
5.1小車的主要組成部分………………………………………………20
5.2同步帶傳動(dòng)方式優(yōu)缺點(diǎn)……………………………………………20
5.3驅(qū)動(dòng)動(dòng)力源…………………………………………………………21
5.4機(jī)械傳動(dòng)方案的設(shè)計(jì)計(jì)算…………………………………………21
5.4.1設(shè)計(jì)數(shù)據(jù)確定………………………………………………21
5.4.2同步帶結(jié)構(gòu)的設(shè)計(jì)計(jì)算 ……………………………………23
6 零件的加工編程……………………………………………………25
6.1數(shù)控車床加工程序編制基礎(chǔ)………………………………………25
6.2程序的編制…………………………………………………………26
7 結(jié)束與展望………………………………………………………… 34
8設(shè)計(jì)小結(jié) …………………………………………………………… 35
9致謝 ………………………………………………………………… 36
10參考文獻(xiàn)…………………………………………………………… 37



摘 要

 現(xiàn)代工業(yè)中，生產(chǎn)過程的機(jī)械化，自動(dòng)化已成為突出的主題?；さ冗B續(xù)性生產(chǎn)過程的自動(dòng)化已基本得到解決。但在機(jī)械工業(yè)中，加工、裝配等生產(chǎn)是不連續(xù)的。因此，裝卸、搬運(yùn)等工序機(jī)械化的迫切性，工業(yè)機(jī)械手就是為實(shí)現(xiàn)這些工序的自動(dòng)化而產(chǎn)生的。
機(jī)械手是模仿人的手部動(dòng)作，按給定程序、軌跡和要求實(shí)現(xiàn)自動(dòng)抓取、搬運(yùn)和操作的自動(dòng)裝置。它特別是在高溫、高壓、多粉塵、易燃、易爆、放射性等惡劣環(huán)境中，以及笨重、單調(diào)、頻繁的操作中代替人作業(yè)，因此獲得日益廣泛的應(yīng)用。機(jī)械手一般由執(zhí)行機(jī)構(gòu)、驅(qū)動(dòng)系統(tǒng)、控制系統(tǒng)及檢測(cè)裝置三大部分組成，智        能機(jī)械手還具有感覺系統(tǒng)和智能系統(tǒng)。
這次研究設(shè)計(jì)的是專用機(jī)械手，主要附屬于自動(dòng)機(jī)床或自動(dòng)線上，用以解決機(jī)床上下料和工件送。這種機(jī)械手在國外稱為“Mechanical Hand”，它是為主機(jī)服務(wù)的，由主機(jī)驅(qū)動(dòng)；除少數(shù)以外，工作程序一般是固定的，因此是專用的。

關(guān)鍵詞： 機(jī)械手   結(jié)構(gòu)設(shè)計(jì)   運(yùn)動(dòng)控制

Abstract
In the modern industry, the production process mechanization, the automation has become the prominent subject. Continuity production process and so on chemical industry automations were solved basically. But in the mechanical industry, productions and so on processing, assembly is not continual. Therefore, working procedure mechanization and so on loading and unloading, transporting urgency, the industry manipulator is for realizes these working procedure automation to produce.
Manipulator is based on the hand movements. According to the procedures, and requirements for automatic trajectory capture, handling and operation of the automatic devices. In particular, it is in high-temperature, high pressure, dust and more flammable, explosive, radioactive and other harsh environment. And the heavy, dull, the frequent operation substitute operations, It is increasingly widely used. Mechanical hands by executing agencies, driven systems, control systems and detection devices has three major components. Manipulator system is also feeling smart and intelligent systems.
This research design is the special-purpose manipulator, main attached in automatic engine bed or from generator in, with solves on the engine bed the yummy treats and the work piece delivers. This kind of manipulator in overseas is called “Mechanical Hand”, it is for the host service, actuates by the main engine; Besides minority, the working routine is generally fixed, therefore is special-purpose. 

Keywords：Manipulator   Structural Design    Motion Control