沖床上下料機(jī)械手設(shè)計【液壓驅(qū)動 三自由度圓柱坐標(biāo)式】

喜歡這套資料就充值下載吧。資源目錄里展示的都可在線預(yù)覽哦。下載后都有，請放心下載，文件全都包含在內(nèi)，圖紙為CAD格式可編輯，有疑問咨詢QQ:414951605 或 1304139763p 摘 要 本論文主要介紹了沖床上下料機(jī)械手的設(shè)計過程。在查閱了一系列參考資料以后，參閱國內(nèi)的設(shè)計情況。選用圓柱座標(biāo)和三自由度。機(jī)械手的各執(zhí)行機(jī)構(gòu)，包括:手部、手臂等部。用氣流負(fù)壓式吸盤來吸取板料工件。 在分析了具體工作要求，對個方案進(jìn)行對比之后，綜合考慮各個因素。機(jī)械手腰部的旋轉(zhuǎn)運(yùn)動需要一定的定位控制精度，故采用步進(jìn)電機(jī)驅(qū)動來實(shí)現(xiàn)；因?yàn)椴捎靡簤簣?zhí)行缸來做水平手臂和垂直手臂，故大小臂均采用液壓驅(qū)動；機(jī)械手的手部結(jié)構(gòu)設(shè)計，因?yàn)楣ぜ前辶?，使用氣流?fù)壓式吸盤.采用氣動驅(qū)動。 關(guān)鍵詞：沖床 機(jī)械手 負(fù)壓吸盤 Abstract The present paper mainly introduced on the punch press the yummy treats manipulator's design process. After having consulted a series of reference, refers to the domestic design situation. Selects the circular cylindrical coordinate and three degrees-of-freedom. Manipulator's each implementing agency, including: Hand, arm and so on. Absorbs the sheet work piece with the air current negative pressure type sucker. In has analyzed the concrete work requirement, carries on the contrast after a plan, overall evaluation each factor. The manipulator waist's rotary motion needs certain positioning control precision, therefore uses step-by-steps the motor-driven to realize; Because uses the hydraulic pressure execution cylinder to make the horizontal arm and the vertical arm, therefore the big and small arm uses the hydraulic pressure actuation; Manipulator's hand structural design, because the work piece is the sheet, use air current negative pressure type sucker. Uses the air-operated drive. key words: Punch press manipulator negative pressure sucker 目 錄 摘要..................................................................I ABSTRACT..............................................................II 緒論 1 1 機(jī)械手概述 2 1.1 機(jī)械手的組成 2 2 機(jī)械手的總體設(shè)計 4 2.1.1 機(jī)械手總體結(jié)構(gòu)的類型............................................4 2.1.2 設(shè)計具體采用方案 5 2.2 機(jī)械手腰座結(jié)構(gòu)的設(shè)計 6 2.2.1 機(jī)械手腰座設(shè)計的具體采用方案....................................7 2.3 機(jī)械手手臂的結(jié)構(gòu)設(shè)計 7 2.3.1 設(shè)計具體采用方案 ...............................................8 2.4 機(jī)械手的手部結(jié)構(gòu)方案設(shè)計 9 2.5 機(jī)械手的機(jī)械傳動機(jī)構(gòu)的設(shè)計 9 2.6 設(shè)計具體采用方案 12 2.7機(jī)械手驅(qū)動系統(tǒng)的設(shè)計 12 2.7.1設(shè)計具體采用方案................................................19 3 理論分析和設(shè)計計算 19 3.1液壓傳動系統(tǒng)設(shè)計計算 19 3.1.2擬定液壓執(zhí)行元件運(yùn)動控制回路.................................. .21 3.1.3確定液壓系統(tǒng)的主要參數(shù)..........................................22 3.1.3.液壓缸主要參數(shù)的確定...........................................23 3.1.4計算和選擇液壓元件..............................................25 3.2電機(jī)選型和有關(guān)計算 27 3.2.1有關(guān)參數(shù)的計算 27 3.2.2電機(jī)型號的選擇 28 3.3吸盤部件的選擇和計算 30 3.3.1真空發(fā)生器選定及吸著響應(yīng)時間計算 32 3.3.2其它氣動元件選定 34 結(jié)論 35 參考文獻(xiàn) 36 致謝 ..............................................................37