三自由度圆柱坐标机械手毕业设计

河北工程大学毕业设计-1-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河北工程大学毕业设计-2-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··················································93.1设计参数·······················································93.2方案设计······················································103.3液压马达的选择················································103.4回转支撑的选择················································113.5齿轮的强度校核················································133.6底座的方案确定·················································13第4章机械手升降臂··············································154.1升降臂设计要求···············································154.1.1设计要求··················································154.1.2设计方案的选择·············································154.2液压缸的选择·················································154.3执行原件主要参数的确定········································164.4升降臂的设计与计算············································184.5升降臂滑台设计···············································194.6撞快与形成开关的设计·········································20第5章机械手伸缩臂·················································225.1伸缩臂的设计··················································22河北工程大学毕业设计-3-5.1.1设计参数··················································225.1.2设计方案··················································235.2液压缸的选择·················································235.3导向杆的设计·················································235.4底板的设计···················································255.5伸缩臂的确定·················································27第6章机械手夹持器···············································296.1夹持器的方案选择·············································296.2手抓部分的设计驱动计算·······································316.3液压缸的选择·················································316.4V抓型的设计·················································326.5连杆的设计···················································36第7章机械手液压控制系统··········································387.1设计内容及要求················································387.1.1设计内柔···················································397.1.2设计要求···················································397.2设计方案······················································417.3液压泵的选择及其参数确定······································417.3.1个执行系统的最大流量计算···································417.3.2确定液压泵功率·············································427.3.3液压泵原件选择·············································427.4压力影响······················································43第8章机械手控制系统·············································458.1设计内容······················································458.2主电路图······················································468.3PLC控制······················································498.4软件设计·····················································52第9章致谢·······················································56第10章参考文献··················································57河北工程大学毕业设计-4-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机器手的组成河北工程大学毕业设计-5-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。河北工程大学毕业设计-6-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20kg2、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150mm5、手臂最大中心高250mm6、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smm/2507、定位方式行程开关或可调机械挡块等8、定位精度mm19、驱动方式液压传动10、控制方式PLC河北工程大学毕业设计-7-第3章底座的设计3.1设计参数1、底座高400mm；2、转动角度90度，单向运动时间2秒；3.2方案设计底座采用液压马达驱动，结构形式采用圆筒结构，圆筒上端与回转支承连结。由液压马达上的齿轮驱动。外圈通过法兰与上端的升降臂相连，并拖动升降臂回转。根据设计方案初定底座结构示意图如下:图2—1底座结构示意图河北工程大学毕业设计-8-3.3底座液压马达的选择选用整体式小型马达，同时考虑底座转速与承受转矩等因素，在满足条件的马达中：初步选定型号BYM—160摆线齿轮液压马达，排量为160ml/r。3.4回转支撑的选择故此设计选用01系列的回转支承。考虑尺寸需要，初选011.20.280型号,外圈直径360mm，外圈带有的齿圈齿顶圆直径为384mm，齿数为94，模数m=4。回转支承的尺寸如表2-1编号4基本型号0.11.20.280外型尺寸mmD360mmd20016H安装尺寸1D=328mm2D=232mm18n16结构尺寸21n2813D齿轮参数0X4m外齿参数384eDZ=943.5齿圈齿轮的强度校核河北工程大学毕业设计-9-1)马达齿轮的齿数：初定液压马达的输出转速为40r/min,底座的回转速度为srn/81，所以传动比3.560814021nni又因为12ZZi，即得：181Z式中1n——马达输出速度2n——回转支承转速1Z——马达齿轮齿数2.按齿面接触强度计算，即3211132.2HEdttZTKd(2-1)1)确定公式内各计算数值（1）试选载荷系数3.1tK（2）估算底座需要的转矩NmT6.3，这里选定马达齿轮传递的转矩为Nm4（4）按齿面硬度查的马达齿轮的解除疲劳强度极限MPaH6001lim齿圈的解除疲劳强度极限MPaH