工业机器人工作手进行设计(工程图)
工业机器人工作手进行设计(工程图)[20200102170002]
摘要 本次课程设计是要对工业机器人的工作手进行设计，它是基于液压挖掘机而成。主要的工作要求是：抓取木料，提升、回转至卸载位置，卸空后工作手再回到抓取位置并开始下一次作业。这是一种周期作业的抓取木料机械。因此本次设计的目标很明确，就是要设计一款用于木料抓取、卸载的挖掘机工作手。所用驱动系统为液压控制，用液压控制阀来控制油缸的伸缩进而实现工作手抓木过程的闭合。用动臂升降和地盘回转系统来实现工作手的提升、回转。本次设计将用到Auto CAD 2007及Pro/E Wildfire 5.0，用于绘图及仿真模拟。 *查看完整论文请+Q: 351916072
关键字:工作手,液压系统,液压控制阀,回转系统
目 录
1 引言·····························································1
1.1 国内外发展现状·················································2
1.2 本课题的研究内容及意义·········································2
1.2.1 研究内容·····················································2
1.2.2 意义·························································3
2 工作手的设计·····················································3
2.1 基础参数·······················································3
2.2 工作手简介与分析···············································4
2.2.1 主要组成部分·················································4
2.2.2 工作手运动坐标形式···········································4
2.3 工作手的计算···················································4
2.3.1 工作手承载的重量·············································4
2.3.2 工作手的最大抓取值···········································4
2.3.3 工作手的宽度确定·············································6
2.4 工作手的作业范围···············································8
2.4.1 动臂运动分析·················································8
2.4.2 最大作业高度·················································13
2.4.3 最大作业距离（最大作业半径）··································13
3 液压系统·························································14
3.1 液压系统概述···················································14
3.2 工作原理·······················································14
3.3 基本要求·······················································15
3.4 基本动作及系统分析·············································16
3.4.1 挖掘机的一个作业循环包含了下面动作···························16
3.5 小型液压挖掘机的基本回路·······································17
3.6 主泵原理图设计·················································17
3.7 回转机构的设计·················································18
3.7.1 回转机构简述·················································18
3.7.2 挖掘机回转支承设计···········································19
3.7.3 回转支承与转台骨架之间螺栓组的强度校核·······················21
3.7.4 回转支承负荷能力计算·········································21
3.7.5 回转齿轮强度校核 ···········································22
结论 ······························································24
致谢 ······························································25
参考文献 ··························································26
附录 A ·····························································27
图 1 ·······························································30
毕业设计说明书（论文）外文摘要
Title The design of industrial robot working hand based on the excavator Abstract This course is designed to work on an industrial robot hand design, which is based on a hydraulic excavator . The main job requirements are：grabing the timber, improving、going back to the uninstall place, after emptying robot crawled back to the position and starting the next job. So This is a kind of cycle operation grasping wood machinery. Therefore, the design of this goal is very clear, which is to design a excavator for unloading wood. The drive system for the excavator is hydraulic control, which is valved to control the telescopic cylinders working the clutch so as to close of the implementation work hand grasp wood process. The excavator with a movable arm movements and site rotary system to realize the work hand, turning to ascend. This design usesd Auto CAD 2007 and Pro/E Wildfire 5,used for drawing and simulation. Keywords working hand,hydraulic system, hydraulic control valve, rotary system
摘要 本次课程设计是要对工业机器人的工作手进行设计，它是基于液压挖掘机而成。主要的工作要求是：抓取木料，提升、回转至卸载位置，卸空后工作手再回到抓取位置并开始下一次作业。这是一种周期作业的抓取木料机械。因此本次设计的目标很明确，就是要设计一款用于木料抓取、卸载的挖掘机工作手。所用驱动系统为液压控制，用液压控制阀来控制油缸的伸缩进而实现工作手抓木过程的闭合。用动臂升降和地盘回转系统来实现工作手的提升、回转。本次设计将用到Auto CAD 2007及Pro/E Wildfire 5.0，用于绘图及仿真模拟。 *查看完整论文请+Q: 351916072
关键字:工作手,液压系统,液压控制阀,回转系统
目 录
1 引言·····························································1
1.1 国内外发展现状·················································2
1.2 本课题的研究内容及意义·········································2
1.2.1 研究内容·····················································2
1.2.2 意义·························································3
2 工作手的设计·····················································3
2.1 基础参数·······················································3
2.2 工作手简介与分析···············································4
2.2.1 主要组成部分·················································4
2.2.2 工作手运动坐标形式···········································4
2.3 工作手的计算···················································4
2.3.1 工作手承载的重量·············································4
2.3.2 工作手的最大抓取值···········································4
2.3.3 工作手的宽度确定·············································6
2.4 工作手的作业范围···············································8
2.4.1 动臂运动分析·················································8
2.4.2 最大作业高度·················································13
2.4.3 最大作业距离（最大作业半径）··································13
3 液压系统·························································14
3.1 液压系统概述···················································14
3.2 工作原理·······················································14
3.3 基本要求·······················································15
3.4 基本动作及系统分析·············································16
3.4.1 挖掘机的一个作业循环包含了下面动作···························16
3.5 小型液压挖掘机的基本回路·······································17
3.6 主泵原理图设计·················································17
3.7 回转机构的设计·················································18
3.7.1 回转机构简述·················································18
3.7.2 挖掘机回转支承设计···········································19
3.7.3 回转支承与转台骨架之间螺栓组的强度校核·······················21
3.7.4 回转支承负荷能力计算·········································21
3.7.5 回转齿轮强度校核 ···········································22
结论 ······························································24
致谢 ······························································25
参考文献 ··························································26
附录 A ·····························································27
图 1 ·······························································30
毕业设计说明书（论文）外文摘要
Title The design of industrial robot working hand based on the excavator Abstract This course is designed to work on an industrial robot hand design, which is based on a hydraulic excavator . The main job requirements are：grabing the timber, improving、going back to the uninstall place, after emptying robot crawled back to the position and starting the next job. So This is a kind of cycle operation grasping wood machinery. Therefore, the design of this goal is very clear, which is to design a excavator for unloading wood. The drive system for the excavator is hydraulic control, which is valved to control the telescopic cylinders working the clutch so as to close of the implementation work hand grasp wood process. The excavator with a movable arm movements and site rotary system to realize the work hand, turning to ascend. This design usesd Auto CAD 2007 and Pro/E Wildfire 5,used for drawing and simulation. Keywords working hand,hydraulic system, hydraulic control valve, rotary system
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