毕业设计 机械手直线运动液压系统的设计

毕业设计机械手直线运动液压系统的设计系部机械及自动化系专业机电设备维修与管理班级机电姓名学号指导老师绪论机械手能模仿人手和臂的某些动作功能，用以按固定程序抓取、搬运物件或操作工具的自动操作装置。它可代替人的繁重劳动以实现生产的机械化和自动化，能在有害环境下操作以保护人身安全，因而广泛应用于机械制造、冶金、电子、轻工和原子能等部门机械手可把人类从危险、繁重的体力劳动中解放出来，配合机械手工作，同时可极大地提高劳动生产率，加快实现工业生产机械化和自动化的步伐。下面介绍下机械手的历史和前景。机械手是在早期出现的古代机器人基础上发展起来的，机械手研究G3999于20G1002G13438中期，G19555G11540G16757G12651机和自动化G6228G7427的发展，G10317G2047是1946G5192G12544G980G2500G6980G4395电子G16757G12651机G19394G1002以来，G16757G12651机取G5483G1114G5790人的G17839步，G2533高G17907G5242、大G4493G18339、G1314G1227G7696的G7053G2533发展。同时，大G6221G18339生产的G17855G2011G19668G8726G6524动G1114自动化G6228G7427的G17839展，G2460G1038机器人的G5332发G3892定G1114基础。G2490G980G7053面，G7692能G6228G7427的研究G16213G8726某些操作机械代替人G3800G10714放G4568G5627物G17148。在G17837G980G19668G8726G13984景下，G13666G3281于1947G5192G5332发G1114G17977G6523机械手，1948G5192G2460G5332发G1114机械G5347的G1039从机械手。机械手G20330G1820是从G13666G3281G5332G3999研制的。1954G5192G13666G3281G6152G8791G4584G7380早提出G1114工业机器人的G8022G5577，G5194G11015G16843G1114G999G2045。G16825G999G2045的G16213G9869是G1523G2173G1294G7393G6228G7427G6523制机器人的G1863G14422，G2045用人手G4557机器人G17839G15904动作G12046G6957，机器人能实现动作的G16772G5417和G1889现。G17837G4613是G6164G16871的G12046G6957G1889现机器人。1958G5192G13666G3281G13864合G6523制G1856G2508研制出G12544G980G2500机械手G19098G6521机器人。作G1038机器人产G2709G7380早的实用机G3423是1962G5192G13666G3281AMFG1856G2508G6524出的G256VERSTRANG257和UNIMATIONG1856G2508G6524出的G256UNIMATEG257。从G28G23G5192G13666G3281G5332发出G256G15406G6323G17736机G5214G257以来，G17837G12193G7044G3423装置G5062G6116G1038G3281G19481研究的G9921G9869G1055G980，G13451G13451G6518G13046G5332G6311G1866实G19481应用的G20058G3507。G6117G3281的工业机器人从G27G19G5192代G256G983G1128G257G12197G6228G6927G1863G5332G3999起步，在G3281G4490的G6915G6357下，通过G256G983G1128G257、G256八G1128G257G12197G6228G6927G1863，目前己基本掌握G1114机器人操作机的设G16757制造G6228G7427、G6523制系统硬件和软件设G16757G6228G7427、运动学和轨迹规划G6228G7427，生产G1114部分机器人G1863键元器件，G5332发出喷漆、弧焊、G9869焊、装配、搬运等机器人G1866中有13G19多G2500套喷漆机器人在二十余G4490企业的近3G19条自动喷漆生产线站上获G5483规模应用，弧焊机器人己应用在汽车制造厂的焊装线上。但总的来看，G6117G3281的工业机器人G6228G7427及G1866工程应用的水平和G3281外比还有G980定的距离，如可靠G5627G1314于G3281外产G2709机器人应用工程起步较晚，应用G20058G3507窄，生产线系统G6228G7427与G3281外比有差距当前G6117G3281的机器人生产都是应用户的G16213G8726，G256G980客户，G980次重G7044设G16757G257，G2709G12193规G7696多、G6221G18339小、零部件通用化程G5242G1314、供货周期长、G6116本也不G1314，而且G17148G18339、可靠G5627不稳定。因此G17855G2011G19668G16213解决产业化前期的G1863键G6228G7427，G4557产G2709G17839G15904全面规划，搞好系列化、通用化、模块化设G16757，积极G6524G17839产业化G17839程G6117G3281的智能机器人和G10317G12193机器人在G256G2763G257G16757划的G6915G6357下，也取G5483G1114不少G6116果。G1866中G7380G1038突出的是水下机器人，6G19G19G19M水下无缆机器人的G6116果居G1002界G20058G1820水平。1液压缸的加工液压缸G1038典G3423的长套筒零件，与短套筒零件的加工G7053法和工件安装G7053G5347都有较大的差G2047。1液压缸的G6228G7427条件和工艺分析液压缸的材料采用铸铁，如图G6164G12046G1038用铸铁材料的液压缸。G1038保证活塞在液压缸内移动顺G2045，G4557G16825液压缸内孔有圆柱G5242G16213G8726，G4557内孔G17736线有直线G5242G16213G8726，内孔G17736线与两端面间有垂直G5242G16213G8726，内孔G17736线G4557两端G6915承外圆G708G15882H6G709的G17736线有同G17736G5242G16213G8726。G19512此G1055外还G10317G2047G16213G8726，G1866G13464G13467G13051G4506，不G5483有G11734G11536、G19036孔。G21液压缸的加工工艺1配料下料外G5464G207G28G21，内G5464G20766，长G524216G27G27G19203G5214G21车1车G207G28G21MM外圆G2052G207G27G21MMG989G10238G2357G11436G3853G980端，大G3848G20042G4586G20042G2490G980端G21车端面及G1510G16294G989G10238G2357G11436G3853G980端，G6657中G5527G7562G6188G207G27G27MMG38003车G2490G980端G207G28G21MM外圆G2052G207G27G21MMG989G10238G2357G11436G3853G980端，大G3848G20042G4586G20042G2490G980端G23车端面及G1510G16294，总长16G276MMG708G11053加工余G183391MMG709G989G10238G2357G11436G3853G980端，G6657中G5527G7562G6188G207G27G27MMG3800G163G16G9157孔G6524G192431G2334G12946G6524G19243孔G2052G2076G27MMG21G12946G6524G19243孔G2052G2076G28G27G24MMG23G16G9390压孔G16用G9390压G3848G9390压孔G14279G207G26G19MMG15G15932面G12907G12973G5242G1552G53G68G1038G193G21G173MG980端用G15758G13453固定在G3853具中G15G2490G980端G6657中G5527G7562G24G16车G161车G207G27G21G756G2052G4622G4556，G2118G53G26G8145软G10238G3853G980端，以孔定G1313G20042G2490G980端G21G19243内G19193孔1G1013G19G260及车端面软G10238G3853G980端，中G5527G7562G6188G2490G980端G11346分G15932G7669G8503孔3G16855G3848，车G207G27G21G756G2052G4622G4556，G2118G53G26G8145软G10238G3853G980端，G20042G2490G980端G23G19243内G19193孔1G1013G19G260及车端面软G10238G3853G980端，G20042G2490G980端二、确定对液压系统的工作要求机械手G980G14336G11013G6203G15904机G7512、G20549动系统、G6523制系统及G7828G8991装置G989大部分G13464G6116G7693G6466工G1929G16213G8726，G6203G15904机G7512G16213具有手臂G2331G19489、手臂G1292G13565、手臂G3250G17728和G989G1022自G11013G5242。G6203G15904机G7512G11468应G11013手臂G2331G19489机G7512、手臂G1292G13565机G7512、手臂G3250G17728机G7512、手G6363G3853G13051机G7512和G3250G17728定G1313机G7512等G13464G6116，G8611G980部分G3355G11013液压缸G20549动与G6523制它G4448G6116的动作G5502环G1038G6566定G1313G19156G279手臂前G1292G279手G6363G5364G5332G279手G6363G3853G13051抓料G279手臂上G2331G279手臂G13565G3250G279G6312定G1313G19156G279手臂G3250G1772895G279G6566定G1313G19156G279手臂前G1292G279手臂下G19489G279手G6363G5364G5332G279手G6363G19393合G279手臂G13565G3250G279G6312定G1313G19156G279手臂G3250G17728G3809G1313G279G5465料，G8905G2380G17745。三、拟定液压系统原理图四液压系统电磁铁动作表动作顺序1YA2YA3YA4YA5YA6YA7YA8YA9YA10YAK26G6566定G1313G19156手臂前G1292手G6363G5364G5332手G6363抓料手臂上G2331手臂G13565G3250G6332定G1313G19156手臂G3250G17728G6566定G1313G19156手臂前G1292手臂下G19489手G6363G5364G5332手G6363G19393合手臂G13565G3250G6312定G1313G19156手臂G2465G17728G5465料G2380G177455液压系统工作原理1、G6566定G1313G19156G7081Y、1G19YG709按下G8845G8905起动按G19074G2530，G2464G13864G2506G10267G89051、G21同时供G8845，电G11925铁1G60、G21G60G5114电，G8845液G13475G9334G8981G194123和G23G14279G8845G12677，机械手G3800于G5465料G2380G14667G10378G5589。当G7846料G2052G17810G5465上料G1313置，G2563动程序动作。电G11925铁1G60G5114电，G21G60不G5114电，G1363G89051G13499G13505G2380G14667，而G8905G21G1584G8502G2380G14667，同时1G19G60通电。G17839G8845G17347G8905G21G279G194126G279G1955压G19412G27G279G19412G28G279G19412G211G708G2503G709G279定G1313缸左腔。此时，G6566定G1313G19156以保证初G3999G1313置准确。定G1313缸没有G3250G8845G17347，它是依靠弹簧G3809G1313的。G21、手臂前G1292G708G24Y、1G19YG709G6566定G1313G19156G2530，此G6915G17347系统G8845压G2331高，G1363G13499电器KG216发讯，G6521通电G11925铁G24G60，G89051和G8905G21G13475G11468应的单G2533G19412汇G8981G2052电液换G2533G194121G23左G1313，G17839入手臂G1292G13565缸G8845腔。G17839G8845G17347G89051G279单G2533G19412G24G279G194121G23G708左G709G279手臂G1292G13565缸G2503腔G279G8905G21G279G194126G279G19412G26G279。G3250G8845G17347手臂G1292G13565缸左腔G279单G2533G16855G17907G194121G24G279G194121G23G708左G709G279G8845G126773、手G6363G5364G5332G7081Y、G28Y、1G19YG709手臂前G1292G14279适当G1313置，G15904程G5332G1863发讯，电G11925铁1G60、G28G60G5114电，G89051G2380G17745，G8905G21供G8845，G13475单G2533G194126电G11925G19412G21G19左G1313，G17839入手G6363G3853G13051缸G2503腔。G3250G8845G17347从左腔通过液G6523单G2533G19412G211及G19412G21G19左G1313G17839入G8845G12677。G17839G8845G17347G8905G21G279G194126G279电G11925G194121G28G708左G709G279手G6363G3853G13051缸G2503腔G3250G8845G17347手G6363G3853G13051缸左腔G279G19412G21G19G279电G11925G194121G28G708左G709G279G8845G12677G23、手G6363抓料G7081Y、1G19YG709手G6363G5364G5332G2530，时间G13499电器延时。G5465G7846料G11013送料机G7512送G2052手G6363区G3507时，G13499电起器发讯G1363G28G60断电，G8905G21的压力G8845通过G194121G28的G2503G1313G17839入缸的左腔，G1363手G6363G3853G13051G7846料。G17839G8845G17347G8905G21G279G194126G279G194121G28G708G2503G709G279G19412G21G19G279手G6363G3853G13051缸左腔G3250G8845G17347手G6363G3853G13051缸G2503腔G279G194121G28G708G2503G709G279G8845G12677G24、手臂上G2331G7083Y、1G19YG709当手G6363抓料G2530，手臂上G2331。此时，G89051和G8905G21同时供G8845G2052G2331G19489缸。G1039G8845G17347G1038G17839G8845G17347G89051G279单G2533G19412G24G279G194121G19G708左G709G279G1941211G279G194121G21G279手臂G2331G19489缸下腔G279G8905G21G279G194126G279G19412G26G279G3250G8845G17347手臂G2331G19489缸上腔G279G1941213G279G194121G19G708左G709G279G8845G126776、手臂G13565G3250G7086Y、1G19YG709手臂上G2331G14279预定G1313置，碰G15904程G5332G1863，3G60断电，电液换G2533G194121G19G3809G1313，6G60G5114电。G89051和G8905G21G980起供G8845G14279电液换G2533G194121G23G2503端，压力G8845通过单G2533G16855G17907G194121G24G17839入G1292G13565缸左腔，而G2503腔G8845液G13475G194121G23G2503端G3250G8845G12677。G17839G8845G17347G89051G279G19412G24G279G194121G23G708G2503G709G279G194121G24G279手臂G1292G13565缸左腔G279G8905G21G279G194126G279G19412G26G279G3250G8845G17347手臂G1292G13565缸G2503腔G279G194121G23G708G2503G709G279G8845G12677G26、G6312定G1313G19156G7081YG709当手腕上的碰块碰G2052G15904程G5332G1863时，6G60、1G19G60断电，G194121G23、G21G21G3809G1313，定G1313缸G8845液G13475G19412G21G21左端G3250G8845G12677，弹簧作用G6312定G1313G19156。G3250G8845G17347定G1313缸左腔G279G19412G21G21G708左G709G279G8845G12677定G1313缸没有G17839G8845G17347，它是在弹簧作用下前G17839的。G27、手臂G3250G17728G7081Y、G26YG709定G1313缸G6915G17347无G8845压G2530，压力G13499电器KG216发讯，G6521通G26G60。G8905G21的压力G8845G17839入G194126G13475换G2533G1941216左端通过单G2533G16855G17907G194121G27G7380G2530G17839入手臂G3250G17728缸，G1363手臂G3250G1772895。G17839G8845G17347G8905G21G279G194126G279换G2533G1941216G708左G709G279单G2533G16855G17907G194121G27G279手臂G3250G17728缸G3250G8845G17347手臂G3250G17728缸G279单G2533G16855G17907G194121G26G279换G2533G1941216G708左G709G279G8845G12677G28、G6566定G1313G19156G7081Y、1G19YG709当手臂G3250G17728碰G2052G15904程G5332G1863时，G26G60断电，1G19G60重G2460通电，G6566定G1313G19156同1。1G19、手臂前G1292G708G24Y、1G19YG709此时的动作顺序同G21。11、手臂下G19489G708G23Y、1G19YG709手臂G13565G3250碰G2052G15904程G5332G1863，G24G60断电，G23G60通电。此时，电液换G2533G194121G19G2503端动作，压力G8845G13475G194121G19和单G2533G16855G17907G1941213G17839入G2331G19489缸上腔。G17839G8845G17347G89051G279单G2533G19412G24G279G194121G19G708G2503G709G279G1941213G279手臂G2331G19489缸上腔G279G8905G21G279G194126G279G19412G26G279G3250G8845G17347手臂G2331G19489缸下腔G279G194121G21G279G1941211G279G194121G19G708G2503G709G279G8845G126771G21、手G6363G5364G5332G7081Y、G28Y、1G19YG709G6521G2052G13499电器信号G2530，1G60、G28G60通电，手G6363G5364G5332同3。G5194G2563动时间G13499电器延时，G1039机G3853G3848移走G7846料G2530，G13499电器发讯。13、手G6363G19393合G7081Y、1G19YG709G6521G13499电器信号，G28G60断电，手G6363G19393合同G23。1G23、手臂G13565G3250G7086Y、1G19YG709当手G6363G19393喝G2530，1G60断电，G1363G89051和G8905G21G980起供G8845，同时6G60通电，G1866动作顺序同6。1G24、G6312定G1313G19156G7081YG709手腕G2465G17728碰G2052G15904程G5332G1863G2530，1G19G60断电。动作顺序同G26。16、手臂G2465G17728G7081Y、G27YG709G6312定G1313G19156，压力G13499电器发信号，G27G60G6521通。换G2533G1941216G2503端动作，压力G8845G17839入手臂G3250G17728缸的G2490G980腔，手臂G2465G1772895，机械手G3809G1313。G17839G8845G17347G8905G21G279G194126G279换G2533G1941216G708G2503G709G279单G2533G16855G17907G194121G26G279手臂G3250G17728缸G3250G8845G17347手臂G3250G17728缸G279单G2533G16855G17907G194121G27G279换G2533G1941216G708G2503G709G279G8845G126771G26、G5465料G2380G17745G7081Y、G21YG709手臂G2465G17728G2052G1313G2530，G2563动G15904程G5332G1863，G27G60断电，G21G60G6521通。此时，两G8845G8905同时G2380G14667。机械手动作G5502环结束，等G5465下G980G1022G5502环。机械手的动作也可G11013微机程序G6523制，与G11468G1863G1039机G13864G1038G980体，G1866动作顺序G11468同4、液压系统特点分析1A1采用G2464G13864G8905供G8845，手臂G2331G19489及G1292G13565时G11013两G1022G8905同时供G8845；手臂G3250G17728、手G6363松G13051及定G1313缸工作时，只有小G8981G18339G89052供G8845，大G8981G18339G89051自动G2380G17745。G11013于定G1313缸和G6523制G8845G17347G6164G19668压力较G1314，在定G1313缸G6915G17347上串G13864有G1955压G194128，G1363G1055获G5483稳定的压力。2、的G1292G13565和G2331G19489采用单杆G2464作用液压缸G20549动，手臂的G2331G19489和G1292G13565G17907G5242分G2047G11013单G2533G16855G17907G1941215、13、11实现G3250G8845G14422G8981G16855G17907；手臂G11013摆动液压缸G20549动，G1866G8503G2465G2533运动亦采用单G2533G1941217和18，G3250G8845G14422G8981G16855G17907。3、机G7512的定G1313和缓冲是机械手工作平稳可靠的G1863键。从提高生产率来说，希望机械手G8503常工作G17907G5242越快越好，但工作G17907G5242越快，起动和G1584G8502时的惯G5627G4613越大，振动和冲击G4613越大，G17837不仅会影响G2052机械手的定G1313G12946G5242，严重时还会损伤机件。因此机械手的定G1313G12946G5242和运动平稳G5627的G16213G8726，G980G14336在定G1313前G16213采取缓冲措施。G16825机械手手臂G1292出G11013死挡铁定G1313保证G12946G5242，端G9869G2052G17810前发信号G2011断G8845G17347，滑动缓冲；手臂G13565G3250和手臂上G2331G11013G15904程G5332G1863适时发信号，提前G2011断G8845G17347，滑G15904缓冲G5194定G1313。此外，手臂G1292G13565缸和G2331G19489缸采用G1114电液换G2533G19412换G2533，G16855G14422换G2533时间，亦增加缓冲效果。G11013于手臂的G3250G17728部分G17148G18339较大，G17728G17907较高，运动惯G5627矩较大，系统手臂G3250G17728缸G19512采用单G2533G16855G17907G19412G3250G8845G14422G8981G16855G17907外，还采用定G1313缸G6566定G1313G19156定G1313，满足定G1313G12946G5242G16213G8726。4、手G6363G3853G13051缸G3853G13051工件G2530不受系统压力波动的影响，保证牢固地G3853G13051工件，采用G1114液G6523单G2533G1941220的锁G13051G3250G17347。5、G2331G19489缸G1038立G5347液压缸，G1038G6915承平衡运动部件的自重，采用G1114单G2533顺序G1941212的平衡G3250G17347。5、电气系统原理图6、电气系统工作原理1A0A2A3A4A5A61YA710YA8A9A10A11A12A13A14QGA15A16A10A17A18A16A19SB2A15A20A21A22A23A2410KA25A23A15A26A27A13A28A29A30A31A15A32A23A33A341YA72YA35A36A25A23A15A37A38A35A36A39A40A15A41A42A43A44A45A46A47A39A40A48A49A50A35A36A22A23A24KMA25A23A15A26A27A13A28A29A30A31A15A23A41MA51A52A15A51A53A54A47A50A55A54A47A56A57A46A58A47A59A60A36A15A61A58A62A63A13A1410ST,10STA30A31A159KA25A23A32A20A21A22A23A2410KA64A23A15A23A33A342YA64A23A15A65A38A66A67A39A40A15A68A38A69A39A40A15A20A21A22A23A249KA25A23A15A26A27A13A28A29A70A71A15A32A72A73A74A27A13A28A29A30A31A15A23A33A3410YA25A23A15A75A76A77A78A59A79A502A7A80A81A82A83A845YA8510YA86A87A88A89A90A91A92A93A94A95A96A88A97A98A99A93A100A101A102A103KPA104A105A99A106A107A108A109A1106STA111A112A99A113A114A101A102A1035KA115A102A99A116A117A109A118A119A111A112A99A102A120A1215YA115A102A99A122A123A124A125A126A127A1283A85A129A130A131A132A1331YA1349YA13410YA135A136A137A138A139A140A141A142A143A144A145A146A147A148A149A150A149A151A152A153A154A1554ST,4STA156A157A141A158A140A159A160A1614KA162A160A141A163A164A154A165A166A156A157A141A160A167A1689YA162A160A141A169A170A142A171A172A154A1734A134A174A175A176A177A1781YA17910YA180A181A182A183A184A185A186A187A188A189A190A191A192A193A194A195A194A196A197A198A199A2005ST,5STA201A202A186A203A185A204A205A2064KA207A205A186A208A209A199A210A211A207A199A186A205A212A2139YA207A205A186A214A215A187A188A216A217A2185A179A219A220A221A222A2233YA22410YA225A226A227A228A229A230A231A232A233A234A235A236A237A238A239A240A239A241A242A243A244A2452ST,2STA246A247A231A248A230A249A250A2512KA252A250A231A253A254A244A255A25A246A247A231A250A22A03YA252A250A231A73A1A232A2A237A3A496A224A42A4A5A6A76YA810YA9A88A10A11A12A13A14A15A16A17A18A19A20A21A23A24A23A26A27A28A29A307ST,7STA31A32A14A33A13A34A35A366KA37A35A14A38A39A29A40A41A31A32A14A35A43A446YA62A35A14A45A46A15A16A47A48A507A8A98A51A52A53A541YA55A56A57A58A59A60A61A63A64A65A66A67A68A69A70A71A70A72A74A75A76A779ST,9STA78A79A61A80A60A81A82A838KA84A82A61A85A86A78A87A89A90A76A61A82A91A9210YA90A82A938A94A95A96A97A99A1001YA1017YA102A103A104A105A106A107A108A105A109A110A111A112A113A114A115A116A117A108A116A118A119A120A121KPA122A123A108A124A125A126A127A1288STA129A130A108A131A107A119A120A1217KA132A120A108A133A134A127A135A136A129A130A108A120A137A1387YA132A120A108A139A140A141A142A143A144A1459A101A146A147A148A149A1501YA15110YA152A153A154A155A1561A15710A151A158A159A160A161A1625YA16310YA164A165A166A167A1682A16911A163A170A171A172A173A1744YA17510YA176A177A178A179A180A181A182A183A184A185A186A187A188A189A190A191A190A192A193A194A195A196A1973STA1823STA198A199A182A200A181A201A202A2033KA204A202A182A205A206A196A207A208A198A199A182A202A209A2104YA204A202A182A211A212A183A184A213A214A21512A175A216A217A218A219A2201YA2219YA22110YA222A223A224A225A226A227A228A229A230A231A232A233A234A235A236A237A236A238A239A240A241A2424ST,4STA243A244A228A245A227A246A247A2484KA249A247A228A250A251A241A252A253A243A244A228A247A254A2559YA249A247A228A73A0A229A1A2A241A4913A221A42A3A4A5A61YA710YA8A25A9A10A114A1214A7A13A14A15A16A176YA1810YA19A20A21A22A236A2415A18A98A26A27A28A291YA30A31A32A33A347A3516A36A37A38A39A40A411YA438YA44A45A46A47A48A48A50A51A80A52A53A54A55KPA84A56A51A60A57A58A599STA61A62A51A63A64A53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