裝卸工件機(jī)械手設(shè)計(jì)【說明書+CAD】

購買設(shè)計(jì)請充值后下載，資源目錄下的文件所見即所得，都可以點(diǎn)開預(yù)覽，資料完整，充值下載可得到資源目錄里的所有文件?！咀ⅰ浚篸wg后綴為CAD圖紙，doc,docx為WORD文檔，原稿無水印，可編輯。具體請見文件預(yù)覽，有不明白之處，可咨詢QQ:12401814 第V頁 遼寧科技大學(xué)本科生畢業(yè)設(shè)計(jì)裝卸工件機(jī)械手設(shè)計(jì)摘 要工業(yè)機(jī)器人自本世紀(jì)60年代初問世以來，已有80萬余臺用于世界各國的自動化生產(chǎn)線上，扮演著靈巧自如、不知疲倦“操作者”的角色，替代生產(chǎn)工人出色的完成極其繁重、復(fù)雜、精密或者充滿著危險(xiǎn)的各種各樣的工作。不同用途的工業(yè)機(jī)器人正在工業(yè)生產(chǎn)中起到其它機(jī)器無法替代的作用。一般機(jī)器人由基座、腰、臂、腕和手五部分組成。腰和臂控制手的空間位置，腕控制手的空間姿態(tài)，而手則是實(shí)現(xiàn)對操作物體的抓放。本文設(shè)計(jì)的是裝卸工件機(jī)械手，根據(jù)設(shè)計(jì)要求本文制定了一個(gè)由液壓系統(tǒng)控制夾爪松開、夾緊物體的設(shè)計(jì)方案，對手部、腕部及整體的結(jié)構(gòu)進(jìn)行了設(shè)計(jì)，同時(shí)對其主要零部件進(jìn)行了選擇、設(shè)計(jì)和計(jì)算，內(nèi)容包括液壓系統(tǒng)的設(shè)計(jì)計(jì)算，軸的設(shè)計(jì)和校核，對設(shè)計(jì)的液壓控制系統(tǒng)進(jìn)行了分析與編程等。通過分析計(jì)算可以得出結(jié)論，此次設(shè)計(jì)基本滿足設(shè)計(jì)要求。關(guān)鍵詞：裝卸;工業(yè)機(jī)器人；機(jī)械手The design of the manipulator for loading and unloading workpieceAbstractSince the beginning of 1960s, more than 800000 industrial robots have been used on automatic production lines of many countries all over the world, playing a role dexterous and as a free “operator” who has no sense of tireness. It can also accomplish various works that are very arduous and complicated or even full of danger instead of workers. The different application of industry robots to industrial production is playing an important role of which other machines are unable to take the place. The common robot basically consists of the waist, the arm, the wrist and the hand. Waist and arm control space position, while wrist controls special attitude, and the hand is used to realize grasping or putting objects. The design of this article is the mechanical arm of loading and unloading workpiece. According to the design requirements a schematic design has been developed with a hydraulic system controlling the claws from releasing and clamping objects, also it has been carried on the design to the structure of the hand, the wrist, and the whole. The contents including the selection of prime movers, design and check of gears, belts, and axes, the economic analysis to the feasibility of design proposal. Conclusions can be drawn through the computational analysis and this design can by and large meet the needs of the design request.Key words：load and unload；Industrial robot ;manipulator目錄1 緒論11.1 選題的背景、目的和意義11.2 機(jī)器人的發(fā)展概況21.2.1 機(jī)器人的定義21.2.3 國內(nèi)機(jī)器人研究狀況41.2.4 國外機(jī)器人的最新發(fā)展51.2.5 機(jī)器人目前研究熱點(diǎn)及發(fā)展趨勢62手指部分的設(shè)計(jì)與計(jì)算82.1夾緊機(jī)構(gòu)的類型82.2信息傳感器82.2.1內(nèi)部信息傳感器92.2.2外部信息傳感器92.3液壓傳動的設(shè)計(jì)計(jì)算102.3.1手爪夾緊液壓傳動的設(shè)計(jì)計(jì)算112.3.2手爪回轉(zhuǎn)液壓傳動的設(shè)計(jì)計(jì)算122.4夾緊力的計(jì)算142.4.1液壓缸產(chǎn)生的推力及運(yùn)動速度142.4.2夾緊力的計(jì)算163手腕部分的設(shè)計(jì)與計(jì)算193.1確定油缸的工作壓力193.2確定經(jīng)油缸的流量193.3確定油泵所需電機(jī)功率193.4液壓缸的輸出扭矩計(jì)算204手臂部分的設(shè)計(jì)與計(jì)算224.1手臂的作用和組成224.2對設(shè)計(jì)手臂的要求224.3手臂的結(jié)構(gòu)234.4手臂的設(shè)計(jì)計(jì)算234.4.1確定油剛工作壓力234.4.2驅(qū)動力的設(shè)計(jì)計(jì)算244.4.3偏重力矩的設(shè)計(jì)計(jì)算265.機(jī)身的設(shè)計(jì)與計(jì)算295.1機(jī)身升降液壓轉(zhuǎn)動的設(shè)計(jì)計(jì)算295.1.1確定油缸的工作壓力295.1.2確定經(jīng)油缸的流量295.1.3確定油泵所需電機(jī)功率295.1.4液壓泵的校核305.1.5活塞桿強(qiáng)度和穩(wěn)定性校核325.2機(jī)身回轉(zhuǎn)液壓轉(zhuǎn)動的設(shè)計(jì)計(jì)算335.2.1確定油缸的工作壓力335.2.2確定經(jīng)油缸的流量335.2.3確定油泵所需電機(jī)功率345.2.4液壓缸的扭矩計(jì)算346.PLC控制366.1PLC實(shí)現(xiàn)的功能366.2PLC控制電路接線圖366.3PLC輸入（I/O）點(diǎn)數(shù)的分配376.4PLC輸出（I/O）點(diǎn)數(shù)的分配386.5PLC控制梯形圖386.5程序調(diào)試426.5.1主程序調(diào)試426.5.2手動操作子程序調(diào)試426.5.3自動運(yùn)行子程序調(diào)試43結(jié)論44致謝45參考文獻(xiàn)46