畢業(yè)論文-工業(yè)機(jī)械手液壓系統(tǒng)設(shè)計(jì)-閱讀頁
2025-01-31 22:46本頁面
【正文】 20 36 4 定位缸 HSG 20 10 3 4 液壓馬達(dá)計(jì)算結(jié)果： 型號(hào) 額定轉(zhuǎn) 速(r/min) 額定轉(zhuǎn) 矩(NM) 額定壓 力(MPa) 排量 (mL/r) 流量(L/min) 手腕回轉(zhuǎn)缸 CMC10C 1800 10 手臂回轉(zhuǎn)缸 CMC18C 1800 29 10 術(shù)要求： 工業(yè)機(jī)械手液壓系統(tǒng)設(shè)計(jì) 第 14 頁 共 21 頁 ⑴ 缸筒與端蓋的連接形式 由于機(jī)械手要求外形尺寸小，重量輕，故采用螺紋式連接 ⑵ 缸筒、端蓋和導(dǎo)向套的基本要求 缸筒內(nèi)孔一般采用鏜削、鉸孔、滾壓或磨等精密加工工藝制造，要求表面粗糙度在 ～ m? ,使活塞及其密封件、支承件能順利滑動(dòng)，從而保證密封效果，減少磨損；缸筒要承受很大的液壓力，因此，應(yīng)具有足夠的強(qiáng)度和剛度。 導(dǎo)向套對(duì)活塞桿起導(dǎo)向和支承作用，一般采用摩檫系數(shù)小、耐磨性好的聚四氟乙烯制作。 同時(shí)還采用 Y型密封。Y形圈的密封作用取決于它的唇邊對(duì)耦合面的緊密接觸程度。當(dāng)液壓力升高時(shí)，唇邊與耦合面貼得更緊，接觸壓力更高，密封性能更好。緩沖的原理是當(dāng)活塞或缸筒接近行程終端時(shí)，在排油腔內(nèi)增大回油阻力，從而降低液壓缸的運(yùn)動(dòng)速度，避免活塞與缸蓋相撞。 當(dāng)手臂回轉(zhuǎn)、手腕回轉(zhuǎn)、手指松緊及定位缸工作時(shí)，只有小流量泵供油。 工作時(shí)液壓泵所需的最大功率為： wp = ?ppq = 36 ? ??? ?= 查《機(jī)械零件手冊(cè)》 274p 選 Y160M型電機(jī)。 手 臂 升 降 時(shí) ， 液 壓 缸 工 作 壓 力 為 4 MPa ， 流 量 為 tq = A1 maxV =4? 2D maxV =4? 36 310? =。 工作時(shí)液壓泵所需的最大功率為： wp = ?ppq = 36 ? ??? ?= 查《機(jī)械零件手冊(cè)》 274p 選 Y160L型電機(jī)。 單向調(diào)速閥：按 P=11 aMP ,q= minL 選 QAH20 型單向調(diào)速閥 4 個(gè)，按P=11 aMP ,q= minL 選 QAH20型單向調(diào)速閥 3個(gè)； 行程節(jié)流閥：按 P=11 aMP ,q= minL 選 ZGM10型行程節(jié)流閥 1個(gè)。 ⑴ 與手臂回轉(zhuǎn)缸、手指夾緊缸、手腕回轉(zhuǎn)缸、定位缸相連的軟管 A= VQ61 ,得 d=VQ?32 d—— 軟管內(nèi)徑， m V—— 管內(nèi)流速， sm/ Q—— 管內(nèi)流量， sm/3 將 V=2 sm/ ， Q= minL = 310? sm/3 代入上式得 d== 根據(jù)液壓行業(yè)技術(shù)標(biāo)準(zhǔn)，圓整為 d=10mm 查《機(jī)械設(shè)計(jì)手冊(cè)》選 61717?P ,選Ⅰ型軟管 ⑵ 與手臂升降缸、手臂伸縮缸 相連的軟管 工業(yè)機(jī)械手液壓系統(tǒng)設(shè)計(jì) 第 18 頁 共 21 頁 A= VQ61 ,得 d=VQ?32 d—— 軟管內(nèi)徑， m V—— 管內(nèi)流速， sm/ Q—— 管內(nèi)流量， sm/3 將 V=2 sm/ ， Q= minL = 310? sm/3 代入上式得 d== 根據(jù)液壓行業(yè)技術(shù)標(biāo)準(zhǔn)，圓整為 d=15mm 查《機(jī)械設(shè)計(jì)手冊(cè)》選 61717?P ,選Ⅰ型軟管 由于本系統(tǒng)最高工作壓力為 11MPa，查《機(jī)械設(shè)計(jì)手冊(cè)》選扣壓式膠管接頭 由于本系統(tǒng)適用于高溫作業(yè)，油液溫度會(huì)很高，故選擇燒結(jié)式濾芯 油箱的容量一般取泵流量的 3～ 5倍，本系統(tǒng)取 4倍。 綜合以上要求，選 LHL液壓油（普通液壓油） 工業(yè)機(jī)械手液壓系統(tǒng)設(shè)計(jì) 第 19 頁 共 21 頁 液壓系統(tǒng)性能的驗(yàn)算 液壓元件的規(guī)格和管道尺寸確定之后，便應(yīng)估算回路中的壓力損失，以便確定系統(tǒng)的供油壓力。由于該液壓系統(tǒng)較簡(jiǎn)單，該項(xiàng) 計(jì)算從略。為了保證系統(tǒng)正常工作，油溫升高的允許植不應(yīng)超過規(guī)定范圍。由于系統(tǒng)的功率小，效率高，發(fā)熱少，所取油箱容量又較大，故不必進(jìn)行溫升的驗(yàn)算。由于本系統(tǒng)精度要求一般，故不必進(jìn)行此方面的驗(yàn)算。其電氣控制部分如改進(jìn)為微機(jī)控制，將大幅度提 高生產(chǎn)效率，并為實(shí)現(xiàn)生產(chǎn)自動(dòng)化創(chuàng)造條件，這將是我今后努力的方向！ 致謝 衷心感謝四年來機(jī)械工程系全體老師的辛勤培養(yǎng)和同學(xué)的支持幫助！ 特別感謝梁棟老師對(duì)畢業(yè)設(shè)計(jì)的悉心指導(dǎo)！ 還要感謝電氣工程系袁琦老師的大力支持！ 工業(yè)機(jī)械手液壓系統(tǒng)設(shè)計(jì) 第 20 頁 共 21 頁 The design of hydraulic system of the industry manipulator Shi zhongqiu Counselor: Liang dong Associate professor (South China University of Tropic Agriculture technical College Danzhou Hainan 571737) [summary] Manipulator imitate hand movement of people, according to give procedure , orbit , demand realize pick , carry and automatics that operate automatically definitely. It especially in such abominable environments as high temperature , high pressure , much dust , flammable , explosive , radioactivity ,etc., cumbersome , dull, frequent operation replace people39。s 72hour visafree policy has attracted wide attention from both Chinese and foreign experts and businessmen since it took effect on Sept 1 last year. The program permits citizens from 51 countries and regions including the United States, Australia, Canada and Japan who have valid visas and flight tickets to a third country to spend three days in the city. The capital of Sichuan province is the first city in the western region of China to offer foreign tourists a threeday visa and the fourth nationwide to adopt the policy following Shanghai, Beijing and Guangzhou. Li Zhiyong, deputy dean of the tourism institute at Sichuan University, said the move contributes to a large increase in the number of overseas tourists and raises the city39。s largest breeding and research center. Three days are long enough for foreign visitors to visit those iconic tourist spots, he noted. The city is home to the remains of the Jin sha civilization 工業(yè)機(jī)械手液壓系統(tǒng)設(shè)計(jì) 第 21 頁 共 21 頁 that dates back more than 3,000 years as well as the Qing cheng Mountains and the Du jiang yan irrigation system. Qing cheng has long been recognized as the birthplace of Taoism, China39。s business development. Rudy Buttignol, president of the public broadcasting pany in British Columbia, Canada, said his work requires frequent travel to Chengdu and the policy makes the trips easier. Data from the city39。s cooperation with Central Asian countries, a senior official said. Shaanxi Governor Lou Qinjian said the province is fresh, rich and unique, as it was when it anchored one end of the ancient Silk Road. It is the best option for acmodating industrial transfers from East China or the world at large, he said on Wednesday in Xi39。an, the starting point of the ancient Silk Road, a trade channel established more than 2,000 years ago linking China, Central Asia and Europe.
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