【正文】 .................................................................................................. 14 手部結(jié)構(gòu)設(shè)計(jì) ............................................................................................................... 14 ....................................................................................................................... 14 ...................................................................................................................... 16 驅(qū)動(dòng)力的計(jì)算 ......................................................................................................... 16 .................................................................................................... 18 兩支點(diǎn)回轉(zhuǎn)式鉗爪的定位誤差的分析 .............................................................................. 18 第三章 腕部 結(jié)構(gòu) ...................................................................................................................... 19 ............................................................................................................. 19 ....................................................................................................................... 19 腕部的結(jié)構(gòu)形式 ...................................................................................................... 19 驅(qū)動(dòng)力矩 的計(jì)算 ...................................................................................................... 20 第四章 臂部的結(jié)構(gòu) ................................................................................................................... 21 臂部設(shè)計(jì)的基本要求 ..................................................................................................... 22 手臂的典型機(jī)構(gòu)以及結(jié)構(gòu)的選擇 ..................................................................................... 23 手臂的典型運(yùn)動(dòng)機(jī)構(gòu) ................................................................................................ 23 手臂運(yùn)動(dòng)機(jī)構(gòu)的選擇 ................................................................................................ 23 手臂直線運(yùn)動(dòng)的驅(qū)動(dòng)力計(jì)算 ........................................................................................... 23 手臂摩擦力的分析與計(jì)算 ......................................................................................... 23 手臂慣性力的計(jì)算 ................................................................................................... 25 密封裝置的摩擦阻力 ................................................................................................ 25 液壓缸工作壓力和結(jié)構(gòu)的確定 ........................................................................................ 26 第五章 機(jī)身的設(shè)計(jì)計(jì)算 ............................................................................................................ 29 2 機(jī)身的整體設(shè)計(jì) ............................................................................................................ 29 機(jī)身回轉(zhuǎn)機(jī)構(gòu)的設(shè)計(jì)計(jì)算 ............................................................................................... 30 機(jī)身升降機(jī)構(gòu)的計(jì)算 ..................................................................................................... 33 手臂偏 重力矩的計(jì)算 ................................................................................................ 33 升降不自鎖條件分析計(jì)算 ......................................................................................... 34 手臂做升降運(yùn)動(dòng)的液壓缸驅(qū)動(dòng)力的計(jì)算 ..................................................................... 34 油缸結(jié)構(gòu)尺寸的確定 ................................................................................................ 35 第六章 液壓系統(tǒng) ...................................................................................................................... 37 ............................................................................................................. 37 .......................................................................................................... 37 ....................................................................................................... 37 ............................................................................................ 37 壓力控制回路 ......................................................................................................... 37 速度控制回路 ......................................................................................................... 38 .......................................................................................................... 38 機(jī)械手的液壓傳動(dòng)系統(tǒng) .................................................................................................. 39 ............................................................................................. 39 ............................................................................. 39 ............................................................................................ 41 雙作用單桿活塞油缸 ................................................................................................ 42 ............................................................................................................. 45 確定油泵電動(dòng)機(jī)功率 N ............................................................................................ 45 第七章 PLC控制回路的設(shè)計(jì) ..................................................................................................... 46 ............................................................................................................. 47 根據(jù)機(jī)械手的動(dòng)作順序表 ............................................................................................... 48 PLC與現(xiàn)場器件的實(shí)際連接圖 ......................................................................................... 49 梯形圖 ......................................................................................................................... 50 ...................................................................................................................... 52 結(jié) 論 .....................................................