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沈陽理工大學(xué)應(yīng)用技術(shù)學(xué)院畢業(yè)設(shè)計說明書
目 錄
摘 要······································································································································Ⅰ
Abstract····································································································································Ⅱ
前言··········································································································································· 1
1．機械部分
1-1 確定機械手的結(jié)構(gòu)及擬定工作原理·················································································2
1-2 夾緊油缸的設(shè)計·················································································································3
一．夾緊缸的設(shè)計·················································································································3
1．夾緊缸的結(jié)構(gòu)設(shè)計············································································································3
2．手指選擇···························································································································3
3. 三指夾緊力計算················································································································3
4. 夾緊缸計算························································································································4
5. 實際液壓力的計算······ ·····································································································5
6.夾緊缸的結(jié)構(gòu)設(shè)計··············································································································5
7.頂料杯的計算 ····················································································································6
1-3腕部計算······························································································································7
1.腕部總重力··························································································································7
2.回轉(zhuǎn)油缸的轉(zhuǎn)矩驗算··········································································································7
3.驅(qū)動力矩的計算··················································································································8
4.回轉(zhuǎn)缸內(nèi)徑的計算··············································································································8
5回轉(zhuǎn)缸壁厚可根據(jù)腕部結(jié)構(gòu)和工藝性選擇······································································9
6.選用的軸承··························································································································9
7.回轉(zhuǎn)油缸密封形式的確定··································································································9
8.回轉(zhuǎn)缸螺栓的驗算··············································································································9
9.花鍵的強度校核················································································································10
1-4手臂缸的設(shè)計和計算·········································································································12
1.手臂缸內(nèi)徑的確定············································································································12
2.油缸的壁厚························································································································12
3.活塞桿的計算及驗算········································································································13
4.缸蓋的設(shè)計························································································································14
5.活塞的結(jié)構(gòu)設(shè)計················································································································15
6.油缸端蓋的連接方式及強度計算····················································································16
7.液壓缸的固定形式及放置································································································17
8.手臂下蓋緩沖裝置的設(shè)計································································································17
9.節(jié)流孔直徑的確定············································································································18
10.導(dǎo)向套的設(shè)計··················································································································19
11.回轉(zhuǎn)缸軸的校核··············································································································19
2．電氣部分
2-1機械手電氣部分的設(shè)計概述·····························································································24
2-2傳感器的選擇·····················································································································24
2-3放射式紅外檢測開關(guān)·········································································································26
2-4根據(jù)工藝過程分析控制要求·····························································································27
2-5確定用戶輸入/輸出設(shè)備及pc的選擇···············································································28
2-6 pc程序設(shè)計························································································································28
2-7外部電源·····························································································································32
結(jié)論··········································································································································33
致謝··········································································································································34
參考文獻···································································································································35
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