三自由度圆柱坐标机械手论文大学学位论文.doc

河北工程大学毕业设计 摘要自上世纪工业革命以来，大型重工业已经成为了人类社会发展的不可缺少的一部风自从美国诞生了世界上第一台机械人后，很多国家都争先研究机器人技术因为机器人技术可以帮助甚至替代人类在重工业生产，特别是高污染，高强度，高温度等人类不适宜的工作环境下高效率的工作机械手作为机器人的重要组成部分，它种类繁多动力方面，可以是电动的，也可以是液压差传动主要由控制系统，执行系统，动力系统等系统组成，由伸缩臂，升降臂，机械抓手等部分，以PLC软件为操作，使机器手更加方便快捷的运用于人类的生产活动当中关键词：机械手 手臂 圆柱坐标 液压缸 PLC目录 第1章 绪论 ······················································51.1 机械手发展现状 ················································51.2机器手种类······················································51.3 机器手由哪些部分组成 ···········································51.4设计机器手目的··················································6第2章 三自由度直角坐标机械手的整体设计方案·························72.1机械手的自由度和坐标形式的确定································72.2 机械手的手部结构的确定方法·································· 72.3 机械手的手臂结构的确定······································ 72.4机械手的驱动方案的确定·······································72.5机械手的控制方案的确定········································72.6机械手的参数确定··············································8第3章 机械手底座··················································9 3.1设计参数·······················································9 3.2方案设计······················································10 3.3液压马达的选择················································10 3.4回转支撑的选择················································11 3.5齿轮的强度校核················································13 3.6底座的方案确定·················································13 第 4 章 机械手升降臂··············································15 4.1升降臂设计要求···············································15 4.1.1 设计要求··················································15 4.1.2 设计方案的选择·············································15 4.2液压缸的选择·················································15 4.3执行原件主要参数的确定········································16 4.4升降臂的设计与计算············································18 4.5升降臂滑台设计···············································19 4.6撞快与形成开关的设计·········································20第5章机械手伸缩臂·················································22 5.1伸缩臂的设计··················································22 5.1.1设计参数··················································22 5.1.2设计方案··················································23 5.2液压缸的选择·················································23 5.3导向杆的设计·················································23 5.4底板的设计···················································25 5.5伸缩臂的确定·················································27第6章 机械手夹持器···············································29 6.1夹持器的方案选择·············································29 6.2手抓部分的设计驱动计算·······································31 6.3液压缸的选择·················································31 6.4 V抓型的设计·················································32 6.5连杆的设计···················································36第7章 机械手液压控制系统··········································38 7.1设计内容及要求················································38 7.1.1设计内柔···················································39 7.1.2设计要求···················································39 7.2设计方案······················································41 7.3液压泵的选择及其参数确定······································41 7.3.1个执行系统的最大流量计算···································41 7.3.2确定液压泵功率·············································42 7.3.3液压泵原件选择·············································42 7.4压力影响······················································43第8章 机械手控制系统·············································45 8.1设计内容······················································45 8.2主电路图······················································46 8.3 PLC控制······················································49 8.4 软件设计·····················································52第9章 致谢·······················································56第10章 参考文献··················································57第1章 概述1.1机器手的发展 机器手在当今社会中已经扮演的重要的角色，它在我们的日常生活里都特别的重要，我国的机械手事业不断的发展，已在当今社会中占有了一定地位。

随着中国的崛起，相信我国的机械手会越来越好，越来越发达 1.2机器手的分类 图1-2 机器人结构形式1.3机器手的组成 机械手的设计可以帮助我提高，升华大学四年所学的相关知识帮助我进一步了解机械领域的一些东西同时也使我明白工作的不容易，我们应该在工作当中更加细心，才能减少错误 第2章：三自由度圆柱坐标机械手设计方案 2.1 机械手的参数的确定 1、抓重 20kg 2、自由度数 3个自由度3、座标型式 圆柱坐标4、最大工作距离 150mm 5、手臂最大中心高 250mm 6、手臂运动参数 伸缩行程150mm 伸缩速度400m/s 升降行程250mm 升降速度 7、定位方式 行程开关或可调机械挡块等8、定位精度 9、驱动方式 液压传动10、控制方式 PLC第3章 底座的设计3.1 设计参数1、底座高400mm；2、转动角度。