3333 曲軸搬運(yùn)機(jī)械手機(jī)電系統(tǒng)設(shè)計(jì)

3333 曲軸搬運(yùn)機(jī)械手機(jī)電系統(tǒng)設(shè)計(jì),曲軸,搬運(yùn),機(jī)械手,機(jī)電,電機(jī),系統(tǒng),設(shè)計(jì) 黑龍江工程學(xué)院學(xué)院本科生畢業(yè)設(shè)計(jì)目 錄摘要……………………………………...........……………………………………………..IAbstract……………………………………………...……..........……….………….……..II第 1 章 緒論........................................................................................................................11.1 工業(yè)機(jī)器人（機(jī)械手）的概述....................................................................................11.1.1 工業(yè)機(jī)器手的發(fā)展..........................................................................................11.1.2 工業(yè)機(jī)器人的分類..........................................................................................21.1.3 工業(yè)機(jī)械手的應(yīng)用..........................................................................................21.2 國內(nèi)外發(fā)展現(xiàn)狀.........................................................................................................31.3 本課題的預(yù)期結(jié)果....................................................................................................4第 2 章 機(jī)械手的總體設(shè)計(jì).............................................................................................52.1 設(shè)計(jì)要求....................................................................................................................52.2 機(jī)械手總體設(shè)計(jì)方案................................................................................................52.2.1 機(jī)械手的組成及各部分關(guān)系....................................................................................52.2.2 總體設(shè)計(jì)任務(wù)..................................................................................................52.2.3 總體方案擬定..................................................................................................72.3 本章小結(jié)....................................................................................................................9第 3 章機(jī)械手結(jié)構(gòu)的設(shè)計(jì)分析....................................................................................103.1 末端操作器的設(shè)計(jì)分析..........................................................................................103.2 末端操作器的概述..................................................................................................103.1.1 末端操作器結(jié)構(gòu)的設(shè)計(jì)分析........................................................................103.1.2 末端操作器的設(shè)計(jì)........................................................................................103.3 手腕的設(shè)計(jì)..............................................................................................................113.4 手臂的設(shè)計(jì)..............................................................................................................12黑龍江工程學(xué)院學(xué)院本科生畢業(yè)設(shè)計(jì)3.5 機(jī)身和機(jī)座的設(shè)計(jì)..................................................................................................133.6 本章小結(jié)..................................................................................................................................15第 4 章 機(jī)械手各部件載荷及結(jié)構(gòu)尺寸計(jì)算..........................................................174.1 設(shè)計(jì)要求分析..........................................................................................................174.2 手指夾緊機(jī)構(gòu)的及尺寸設(shè)計(jì)..................................................................................174.2.1 手指夾緊機(jī)構(gòu)載荷的計(jì)算............................................................................174.3 手臂伸縮機(jī)構(gòu)的及尺寸的確定..............................................................................224.4 手臂俯仰機(jī)構(gòu)結(jié)構(gòu)尺寸的確定..............................................................................244.5 手腕擺動(dòng)機(jī)構(gòu)的確定..............................................................................................244.6 機(jī)身擺動(dòng)機(jī)構(gòu)的確定..............................................................................................244.7 強(qiáng)度校核..................................................................................................................244.8 彎曲穩(wěn)定性校核......................................................................................................254.9 本章小結(jié)..................................................................................................................26第 5 章 液壓系統(tǒng)的設(shè)計(jì)...............................................................................................275.1 液壓缸或液壓馬達(dá)所需流量的確定......................................................................275.1.1 液壓缸工作時(shí)所需流量................................................................................275.2 液壓馬達(dá)工作時(shí)的流量..........................................................................................285.3 液壓缸或液壓馬達(dá)主要零件的結(jié)構(gòu)材料及技術(shù)要求..........................................285.3.1 缸體................................................................................................................285.3.2 缸蓋................................................................................................................295.3.3 活塞................................................................................................................295.3.4 活塞桿............................................................................................................295.3.5 液壓缸的緩沖裝置........................................................................................295.3.6 液壓缸的排氣裝置........................................................................................305.4 制定基本方案..........................................................................................................305.4.1 基本回路的選擇............................................................................................305.5 液壓元件的選擇......................................................................................................315.5.1 液壓泵的選擇................................................................................................315.5.2 液壓泵所需電機(jī)功率的確定........................................................................325.5.3 液壓閥的選擇................................................................................................335.5.4 液壓輔助元件的選擇原則............................................................................33黑龍江工程學(xué)院學(xué)院本科生畢業(yè)設(shè)計(jì)5.5.5 油箱容量的確定............................................................................................355.5.6 液壓原理圖....................................................................................................35 5.6 本章小結(jié)..................................................................................................................37第 6 章 電氣控制系統(tǒng)的設(shè)計(jì)......................................................................................386.1 電氣控制的概述......................................................................................................386.2 控制電路..................................................................................................................386.2.1 控制電路的組成............................................................................................386.2.2 繼電器的選擇................................................................................................386.2.3 接觸器的選擇................................................................................................396.2.4 斷路器............................................................................................................406.3 電氣系統(tǒng)設(shè)計(jì)及原理..............................................................................................406.4 電氣系統(tǒng)的控制順序..............................................................................................416.5 本章小結(jié)..................................................................................................................42結(jié)論.......................................................................................................................................43參考文獻(xiàn).............................................................................................................................44致謝.......................................................................................................................................45附錄.......................................................................................................................................46