12KG下料機(jī)械手設(shè)計(jì)說(shuō)明書.doc

畢業(yè)設(shè)計(jì)（論文）說(shuō)明書題目12KG下料機(jī)械手設(shè)計(jì)學(xué)生系別機(jī)電工程系專業(yè)班級(jí)學(xué)號(hào)指導(dǎo)教師目錄摘要.3第一章緒論.51.1工業(yè)機(jī)械手的設(shè)計(jì)目的.51.2工業(yè)機(jī)械手在生產(chǎn)中的作用.61.3工業(yè)機(jī)械手的分類.61.4工業(yè)機(jī)械手的組成.71.5工業(yè)機(jī)械手的技術(shù)發(fā)展方向.71.6工業(yè)機(jī)械手的設(shè)計(jì)的內(nèi)容.8第二章手部的設(shè)計(jì).82.1手部的功能、分類.82.2夾鉗式手部設(shè)計(jì)的基本要求.92.3夾鉗式手部的計(jì)算與分析.9第三章手臂的設(shè)計(jì)計(jì)算.133.1手臂作升降運(yùn)動(dòng)的液壓缸驅(qū)動(dòng)力計(jì)算.133.2確定液壓缸的結(jié)構(gòu)尺寸.163.3缸蓋螺釘?shù)挠?jì)算.18第四章手臂回轉(zhuǎn)液壓缸的設(shè)計(jì)計(jì)算.204.1手臂回轉(zhuǎn)時(shí)所需要的驅(qū)動(dòng)力矩.204.2回轉(zhuǎn)缸內(nèi)徑D的計(jì)算.224.3缸蓋聯(lián)接螺釘和動(dòng)片聯(lián)接螺釘計(jì)算.24第五章驅(qū)動(dòng)系統(tǒng).295.1機(jī)械手驅(qū)動(dòng)系統(tǒng)的選擇.295.2液壓驅(qū)動(dòng)系統(tǒng).305.2計(jì)算和選擇液壓元件.32第六章電氣控制系統(tǒng).386.1電氣控制系統(tǒng)簡(jiǎn)介.386.2機(jī)械手的電氣控制.39參考文獻(xiàn).40致謝.41摘要機(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)和操作是集機(jī)械、電子、控制、計(jì)算機(jī)、傳感器、人工智能等多學(xué)科先進(jìn)技術(shù)于一體的現(xiàn)代制造業(yè)重要的自動(dòng)化裝備。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(jué)系統(tǒng)和智能系統(tǒng)。本篇是按照給定的設(shè)計(jì)參數(shù)，完成了機(jī)械手的設(shè)計(jì)計(jì)算，通過(guò)計(jì)算，確定了機(jī)械手夾緊缸和升降缸的活塞直徑和活塞行程及回轉(zhuǎn)缸的結(jié)構(gòu)尺寸、按照有關(guān)參考資料和設(shè)計(jì)任務(wù)書的要求，完成了機(jī)械手的總體布置和設(shè)計(jì)。根據(jù)設(shè)計(jì)計(jì)算的過(guò)程，分手部，手臂伸縮，手臂回轉(zhuǎn)，驅(qū)動(dòng)系統(tǒng)，電氣系統(tǒng)介紹了12KG下料機(jī)械手設(shè)計(jì)過(guò)程并編寫了畢業(yè)設(shè)計(jì)說(shuō)明書一份。關(guān)鍵詞：機(jī)械手執(zhí)行機(jī)構(gòu)驅(qū)動(dòng)系統(tǒng)控制系統(tǒng)電氣系統(tǒng)ABSTRACTThemanipulatoristheindustryrobotimportantconstituent,Itmaybecalledtheindustryrobotinverymanysituations.Theindustryrobotisthecollectionmachinery,electronic,thecontrol,thecomputer,thesensor,theartificialintelligenceandsoonthemulti-disciplinaryadvancedtechnologytoabodymodernmanufacturingindustryimportantautomationequipment.Themanipulatorimitatespersonshandmovement,accordingtoassignstheprocedure,thepathandtherequestrealizationautomaticallycaptures,thetransportingandtheoperationautomaticdevice.Itspeciallyisinthehightemperature,thehighpressure,themulti-dust,flammable,explosive,radioactiveandsoonintheadversecircumstance,aswellasisunwieldy,monotonously,inthefrequentoperationreplacesthepersonwork,thereforeobtainsdaybydaythewidespreadapplication.Themanipulatorgenerallybytheimplementingagency,theactuationsystem,thecontrolsystemandthedetectorsetthreemajorpartiscomposed,theintelligentmanipulatoralsohasthefeelingsystemandtheintelligentsystem.Thisisaccordingtothemaintechnicalspecificationandtherequestwhichassigns,dividesthehand,thearmexpandsandcontracts,thearmrotation,theactuationsystem,theelectricalsystemintroducedthe8KGyummytreatsmanipul