水壓機(jī)專用機(jī)械手設(shè)計(jì),水壓機(jī),專用,機(jī)械手,設(shè)計(jì) 沈陽(yáng)理工大學(xué)應(yīng)用技術(shù)學(xué)院畢業(yè)設(shè)計(jì)說(shuō)明書 目 錄 摘 要······································································································································Ⅰ Abstract····································································································································Ⅱ 前言··········································································································································· 1 1．機(jī)械部分 1-1 確定機(jī)械手的結(jié)構(gòu)及擬定工作原理·················································································2 1-2 夾緊油缸的設(shè)計(jì)·················································································································3 一．夾緊缸的設(shè)計(jì)·················································································································3 1．夾緊缸的結(jié)構(gòu)設(shè)計(jì)············································································································3 2．手指選擇···························································································································3 3. 三指夾緊力計(jì)算················································································································3 4. 夾緊缸計(jì)算························································································································4 5. 實(shí)際液壓力的計(jì)算······ ·····································································································5 6.夾緊缸的結(jié)構(gòu)設(shè)計(jì)··············································································································5 7.頂料杯的計(jì)算 ····················································································································6 1-3腕部計(jì)算······························································································································7 1.腕部總重力··························································································································7 2.回轉(zhuǎn)油缸的轉(zhuǎn)矩驗(yàn)算··········································································································7 3.驅(qū)動(dòng)力矩的計(jì)算··················································································································8 4.回轉(zhuǎn)缸內(nèi)徑的計(jì)算··············································································································8 5回轉(zhuǎn)缸壁厚可根據(jù)腕部結(jié)構(gòu)和工藝性選擇······································································9 6.選用的軸承··························································································································9 7.回轉(zhuǎn)油缸密封形式的確定··································································································9 8.回轉(zhuǎn)缸螺栓的驗(yàn)算··············································································································9 9.花鍵的強(qiáng)度校核················································································································10 1-4手臂缸的設(shè)計(jì)和計(jì)算·········································································································12 1.手臂缸內(nèi)徑的確定············································································································12 2.油缸的壁厚························································································································12 3.活塞桿的計(jì)算及驗(yàn)算········································································································13 4.缸蓋的設(shè)計(jì)························································································································14 5.活塞的結(jié)構(gòu)設(shè)計(jì)················································································································15 6.油缸端蓋的連接方式及強(qiáng)度計(jì)算····················································································16 7.液壓缸的固定形式及放置································································································17 8.手臂下蓋緩沖裝置的設(shè)計(jì)································································································17 9.節(jié)流孔直徑的確定············································································································18 10.導(dǎo)向套的設(shè)計(jì)··················································································································19 11.回轉(zhuǎn)缸軸的校核··············································································································19 2．電氣部分 2-1機(jī)械手電氣部分的設(shè)計(jì)概述·····························································································24 2-2傳感器的選擇·····················································································································24 2-3放射式紅外檢測(cè)開關(guān)·········································································································26 2-4根據(jù)工藝過(guò)程分析控制要求·····························································································27 2-5確定用戶輸入/輸出設(shè)備及pc的選擇···············································································28 2-6 pc程序設(shè)計(jì)························································································································28 2-7外部電源·····························································································································32 結(jié)論··········································································································································33 致謝··········································································································································34 參考文獻(xiàn)···································································································································35 VIII