液壓機(jī)械手(畢業(yè)設(shè)計(jì)).rar
液壓機(jī)械手(畢業(yè)設(shè)計(jì)),液壓機(jī)械手畢業(yè)設(shè)計(jì),有詳細(xì)完整的cad圖紙和畢業(yè)論文,需要畢業(yè)設(shè)計(jì)的同學(xué)可以下載液壓傳動(dòng)機(jī)械手的設(shè)計(jì) 摘 要 本次設(shè)計(jì)的液壓傳動(dòng)機(jī)械手根據(jù)規(guī)定的動(dòng)作順序,綜合運(yùn)用所學(xué)的基本理論、基本知識(shí)和相關(guān)的機(jī)械設(shè)計(jì)專業(yè)知識(shí),完成對(duì)機(jī)械手的設(shè)計(jì),并繪制必要裝配圖、液壓系統(tǒng)圖、plc控制系統(tǒng)原理圖。機(jī)械手的機(jī)械結(jié)構(gòu)采用油缸、螺桿、...
該文檔為壓縮文件,包含的文件列表如下:


內(nèi)容介紹
原文檔由會(huì)員 545968147 發(fā)布液壓機(jī)械手畢業(yè)設(shè)計(jì),有詳細(xì)完整的CAD圖紙和畢業(yè)論文,需要畢業(yè)設(shè)計(jì)的同學(xué)可以下載
液壓傳動(dòng)機(jī)械手的設(shè)計(jì)
摘 要 本次設(shè)計(jì)的液壓傳動(dòng)機(jī)械手根據(jù)規(guī)定的動(dòng)作順序,綜合運(yùn)用所學(xué)的基本理論、基本知識(shí)和相關(guān)的機(jī)械設(shè)計(jì)專業(yè)知識(shí),完成對(duì)機(jī)械手的設(shè)計(jì),并繪制必要裝配圖、液壓系統(tǒng)圖、PLC控制系統(tǒng)原理圖。機(jī)械手的機(jī)械結(jié)構(gòu)采用油缸、螺桿、導(dǎo)向筒等機(jī)械器件組成;在液壓傳動(dòng)機(jī)構(gòu)中,機(jī)械手的手臂伸縮采用伸縮油缸,手腕回轉(zhuǎn)采用回轉(zhuǎn)油缸,立柱的轉(zhuǎn)動(dòng)采用齒條油缸,機(jī)械手的升降采用升降油缸,立柱的橫移采用橫向移動(dòng)油缸;在PLC控制回路中,采用的PLC類型為FX2N,當(dāng)按下連續(xù)啟動(dòng)后,PLC按指定的程序,通過控制電磁閥的開關(guān)來控制機(jī)械手進(jìn)行相應(yīng)的動(dòng)作循環(huán),當(dāng)按下連續(xù)停止按鈕后,機(jī)械手在完成一個(gè)動(dòng)作循環(huán)后停止運(yùn)動(dòng)。
本設(shè)計(jì)擬開發(fā)的上料機(jī)械手可在空間抓放物體,動(dòng)作靈活多樣,可代替人工在高溫和危險(xiǎn)的作業(yè)區(qū)進(jìn)行作業(yè),可抓取重量較大的工件。
關(guān)鍵詞 機(jī)械手、液壓、控制回路、PLC
The design of the hydraulic manipulator
Machine Design & Manufacture and Automation Instructor :
Abstract The design of hydraulic drive manipulator movements under the provisions of the order , use the basic theory, basic knowledge and related mechanical design expertise comprehensively to complete the design,and drawing the necessary assembly, hydraulic system map, PLC control system diagram . Manipulator mechanical structure using tanks, screw ,guide tubes and other mechanical device component ;In the hydraulic drive bodies ,manipulator arm stretching using telescopic tank ,rotating column of tanks used rack ,manipulator movements using tank movements ,the column takes the horizontal movement of tanks ;The PLC control circuit use the type of FX2N PLC .When pressed for commencement ,PLC in accordance with the prescribed procedures ,through the control of the solenoid valve to control the switch manipulator corresponding moves cycle ,after press the row stop button , the manipulator complete a cycle of action to stop after the hole campaign.
The design of the proposed development of the information on the manipulator can grasp up in space objects ,flexible and varied movements ,can replace the artificial heat and dangerous operation conducted operations,and can grasp the larger workpieces .
Keywords Manipulator 、Hydraulic、Control Loop 、PLC
目 錄
1 前言
1.1 工業(yè)機(jī)器人簡(jiǎn)介----------------------------------------------------------(1)
1.2 世界機(jī)器人的發(fā)展--------------------------------------------------------(1)
1.3 我國工業(yè)機(jī)器人的發(fā)展----------------------------------------------------(2)
1.4 我要設(shè)計(jì)的機(jī)械手--------------------------------------------------------(2)
1.4.1 臂力的確定---------------------------------------------------------------------------------------(2)
1.4.2工作范圍的確定----------------------------------------------------------------------------------(2)
1.4.3 確定運(yùn)動(dòng)速度--------------------------------------------------------(3)
1.4.4 手臂的配置形式------------------------------------------------------(3)
1.4.5 位置檢測(cè)裝置的選擇--------------------------------------------------(4)
1.4.6 驅(qū)動(dòng)與控制方式的選擇------------------------------------------------(4)
2 手部結(jié)構(gòu)------------------------------------------------------------------------------------------(5)
2.1概述-------------------------------------------------------------------------------------------------------(5)
2.2 設(shè)計(jì)時(shí)應(yīng)考慮的幾個(gè)問題----------------------------------------------------------------------------(5)
2.3 驅(qū)動(dòng)力的計(jì)算 -----------------------------------------------------------------------------------------(5)
2.4 兩支點(diǎn)回轉(zhuǎn)式鉗爪的定位誤差的分析------------------------------------------------------------(8)
3 腕部的結(jié)構(gòu)---------------------------------------------------------------------------------------(9)
3.1 概述------------------------------------------------------------------------------------------------------(9)
3.2 腕部的結(jié)構(gòu)形式--------------------------------------------------------------------------------------(9)
3.3手腕驅(qū)動(dòng)力矩的計(jì)算-----------------------------------------------------(10)
4 臂部的結(jié)構(gòu)-------------------------------------------------------------------------------------(13)
4.1 概述----------------------------------------------------------------------------------------------------(13)
4.2手臂直線運(yùn)動(dòng)機(jī)構(gòu)-----------------------------------------------------------------------------------(13)
4.2.1手臂伸縮運(yùn)動(dòng)------------------------------------------------------------------------------------(14)
4.2.2 導(dǎo)向裝置---------------------------------------------------------------------------------------(14)
4.2.3 手臂的升降運(yùn)動(dòng)-------------------------------------------------------------------------------(15)
4.3 手臂回轉(zhuǎn)運(yùn)動(dòng)----------------------------------------------------------------------------------------(16)
4.4 手臂的橫向移動(dòng)-------------------------------------------------------------------------------------(16)
4.5 臂部運(yùn)動(dòng)驅(qū)動(dòng)力計(jì)算------------------------------------------------------------------------------(17)
4.5.1 臂水平伸縮運(yùn)動(dòng)驅(qū)動(dòng)力的計(jì)算------------------------------------------------------------(17)
4.5.2 臂垂直升降運(yùn)動(dòng)驅(qū)動(dòng)力的計(jì)算------------------------------------------------------------(18)
4.5.3 臂部回轉(zhuǎn)運(yùn)動(dòng)驅(qū)動(dòng)力矩的計(jì)算---------------------------------------(18)
5 液壓系統(tǒng)的設(shè)計(jì)-----------------------------------------------------------------------------(20)
5.1液壓系統(tǒng)簡(jiǎn)介---------------------------------------------------------------------------------------(20)
5.2液壓系統(tǒng)的組成------------------------------------------------------------------------------------(20)
5.3機(jī)械手液壓系統(tǒng)的控制回路---------------------------------------------(20)
5.3.1 壓力控制回路-------------------------------------------------------------------------------(20)
5.3.2 速度控制回路-------------------------------------------------------------------------------(21)
5.3.3 方向控制回路-----------------------------------------------------------------------------------(21)
5.4 機(jī)械手的液壓傳動(dòng)系統(tǒng)----------------------------------------------------------------------------(21)
5.4.1 上料機(jī)械手的動(dòng)作順序----------------------------------------------------------------------(22)
5.4.2 自動(dòng)上料機(jī)械手液壓系統(tǒng)原理介紹-------------------------------------------------------(22)
5.5機(jī)械手液壓系統(tǒng)的簡(jiǎn)單計(jì)算-----------------------------------------------(24)
5.5.1 雙作用單桿活塞油缸------------------------------------------------(25)
5.5.2 無桿活塞油缸(亦稱齒條活塞油缸)----------------------------------(27)
5.5.3 單葉片回轉(zhuǎn)油缸 ---------------------------------------------------(29)
5.5.4 油泵的選擇--------------------------------------------------------(30)
5.5.5 確定油泵電動(dòng)機(jī)功率N ----------------------------------------------(31)
6 PLC控制回路的設(shè)計(jì)-----------------------------------------------------------------------(32)
6.1 電磁鐵動(dòng)作順序-------------------------------------------------------------------------------------(32)
6.2 現(xiàn)場(chǎng)器件與PLC內(nèi)部等效繼電器地址編號(hào)的對(duì)照表---------------------------------------(33)
6.3 PLC與現(xiàn)場(chǎng)器件的實(shí)際連接圖------------------------------------------------------------------(34)
6.4 梯形圖-------------------------------------------------------------------------------------------------(35)
6.5 指令程序-----------------------------------------------------------------------------------------------(36)
7 結(jié)束語 -----------------------------------------------------------------------------------------------------(41)
8參考文獻(xiàn)--------------------------------------------------------------------------------------------------(42)
9致 謝 ---------------------------------------------------------------------------------------------------(43)
TA們正在看...
- 論企業(yè)核心競(jìng)爭(zhēng)力.doc
- 教務(wù)管理系統(tǒng).doc
- 電子時(shí)鐘的設(shè)計(jì)與實(shí)現(xiàn).doc
- 社會(huì)保障制度的改革與完善.doc
- 論金融信用及法律建議.doc
- 國際化定位下抓住cepa帶來的新機(jī)遇.doc
- pam反向乳液共聚畢業(yè)設(shè)計(jì).doc
- 初探懲罰性賠償在美國環(huán)境侵權(quán)中的適用.doc
- 人本管理系統(tǒng)畢業(yè)設(shè)計(jì).doc
- 企業(yè)國際競(jìng)爭(zhēng)力評(píng)價(jià)與中國企業(yè)國際競(jìng)爭(zhēng)力分析.doc