液压搬运机械手的设计—-毕业论文设计

毕业设计

题 目 液压搬运机械手的设计

学 院 机械工程学院 专 业 机械工程及自动化 班 级 机自0708

学 生 崔 建 伟 学 号 20070403024 指导教师 杨 可 森

二〇一一年五月三十日

济南大学毕业设计

摘 要

液压搬运机械手是一种被设计用于深孔镗床上下料，可以重复编程、具有多种功能的专用设备，它可代替人的繁重劳动以实现生产的机械化和自动化。通过文献检索、企业调研，对液压搬运机械手的整机结构、功能特点进行归纳分析，对国内外工业机械手的发展状况进行了总结。本文对液压搬运机械手的主要结构进行了详细的设计，其中对上下料机械手的总体结构，运动过程都做了详细的讨论。同时对机械手的手指夹紧，小手臂伸缩以及大、小手臂俯仰等动作进行了分析、计算，最终确定其尺寸。而后，介绍了搬运机械手液压驱动系统的工作原理及液压元件的选用及设计过程。最后，简要介绍了液压搬运机械手的电气控制系统部分。

通过计算分析校核，液压搬运机械手的设计基本达到了预期的设计要求，实现了机械手承载能力大、运动平稳和任意位置安全自锁等性能要求。

关键词：机械手；液压系统；搬运机构

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济南大学毕业设计

ABSTRACT

Hydraulic carrying manipulator is designed for a deep hole boring machine loading and unloading, reprogrammable, multifunctional equipment. It can replace human heavy labor to achieve the mechanization and automation of production. Through literature search, business research, I have summarized and analyzed the hydraulic manipulator’s whole structure and function characteristics, summarized domestic and foreign industrial robot’s development. In this paper, the main structure of hydraulic carrying manipulator is designed in detail, in which the overall structure of the loading and unloading robot, motion process is discussed in detail. At the same time, the clamping fingers, small telescopic arm, small and large pitch arm and other activities of the manipulator were analyzed, calculated and its size is ultimately determined. Then, working principle of hydraulic drive system and the selection and design process of hydraulic components of the hydraulic handling manipulator are introduced. Finally, the electrical control system of the hydraulic handling manipulator is descripted in brief.

Through calculation and analysis, the design of hydraulic carrying manipulator has reached the design requirements which is expected, the manipulator carrying capacity, smooth movement and arbitrary position safe self-locking etc performance requirements is realized.

Key words：Manipulator; Hydraulic system; Handling agencies - II -

济南大学毕业设计

目 录

摘要…………………………………………………………………………..…….….…….I ABSTRACT…….……….……………………….……………………..…………….II 1 前言 …………….……….…………………………………………….….……………..1

1.1液压搬运机械手发展方向…..........................………….………….………..1 1.2液压搬运机械手设计目的………………………………………………………..1 1.3 液压搬运机械手设计任务…..........................………….………….………..2 1.3.1 设计方案….......….......………………………….…....……..……2

1.3.2设计要求….......….......………………………….…....……..……2

2液压搬运机械手的机构设计...……..….………………………….…..….………….4

2.1 液压搬运机械手运动简图………………………………….….……………4 2.2液压搬运机械手手部结构设计及计算………………...………………..4

2.2.1 “滑槽杠杆式”手部结构的设计与计算………………….….……………5 2.2.2手指夹紧力计算………………………………………….….……………6 2.2.3手指夹紧缸驱动力计算………………………………….….……………7 2.2.4手指夹紧液压缸的计算…………………………….….…………………7 2.2.5液压缸缸盖联接方式与强度计算………………….….…………………9 2.3液压搬运机械手横移腕部结构设计及计算…………...………………11

2.3.1腕部横移液压缸驱动力计算…………………………….….…………11 2.3.2腕部液压缸的计算……………………………………….….…………13 2.3.3液压缸缸盖联接方式与强度计算……………………….….…………15 2.4液压搬运机械手小臂伸缩缸设计及计算……………...………………15

2.4.1小臂伸缩液压缸驱动力计算…………………………….….…………16 2.4.2小臂伸缩液压缸的计算………………………………….….…………18 2.4.3液压缸缸盖联接方式与强度计算……………………….….…………19 2.5液压搬运机械手小臂俯仰液压缸设计及计算………...………………20

2.5.1小臂俯仰液压缸驱动力矩计算………………………….….…………20 2.5.2小臂俯仰液压缸驱动力的计算………………………….….…………21 2.5.3小臂俯仰液压缸的计算………………………………….….…………22 2.5.4液压缸缸盖联接方式与强度计算……………………….….…………23 2.6液压搬运机械手大臂俯仰液压缸设计及计算………...………………23

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