矫直机机械手液压系统设计说明书.doc

矫直机机械手液压系统设计
摘要
机械手是在自动化生产过程中使用的一种具有抓取和移动工件功能的自动化装置,它是在机械化、自动化生产过程中发展起来的一种新型装置。它能代替人类完成危险、重复枯燥的工作,减轻人类劳动强度,提高劳动生产力。本篇介绍的机械手为四自由度极坐标型机械手,应用于锻造生产线上最后的矫直机上,主要作用是用于矫直机上料。机械手动作要求快速、准确,并结合工作环境宜采用液压系统。机械手的质量会影响机械手的动作灵敏性和准确性,因此本设计的液压系统五个轻型液压缸,分别控制机械手手指夹紧、手腕回转、手臂俯仰以及拔销定位和棘爪定位,还有两个柱塞液压马达,以实现较大的执行力和执行长度,分别控制手臂伸缩和手臂回转。本文对该液压系统总体方案进行了论证和拟定,包括系统原理图拟定、工况分析、负载计算、液压元件选择、系统验算和结构设计,并用三维造型软件PROE绘制了该液压系统的液压集成块用以检查阀块内的连通情况,用二维软件CAD绘制了原理图、油箱组件图、液压集成块零件图和液压站装配图。
关键字: 矫直机四自由度机械手液压系统
Straightening machine manipulator hydraulic system design
Abstract
A robot is used in the automated production process as a function of having a crawl and move the workpiece automation devices, it is in the mechanization and automation of the production process developed a new type of device. It can replace human plete dangerous, repeat the boring work, to reduce human labor intensity, improve labor productivity. This article introduces the four degrees of freedom robotic manipulator polar type, used in forging a final straightening machine production line, the main role is used for straightening machine feeding. Robot movements require fast, accurate, bine the work environment should adopt the hydraulic system. Will affect the quality of the robot manipulator motion sensitivity and accuracy, so the design of the hydraulic system five lightweight hydraulic cylinders, respectively, control the robot finger grip, wrist rotation, tilt and pull off the arm positioning and pawl positioning, as well as two a piston hydraulic motor, in order to achieve greater execution and implementation of length, respectively, control arm stretching and arm swing. This general scheme of the hydraulic system were demonstrated and proposed, including system schematic formulation, condition analysis, load calculations, ponent selection, system checking and structural design, and 3D modeling software PROE draw the hydraulic system of hydraulic manifold block to check the connectivity of the valve block, draw a two-dimensional CAD