三自由度圆柱坐标机械手大学学位论文

河北工程大学毕业设计

摘要

自上世纪工业革命以来，大型重工业已经成为了人类社会发展的不可缺少的一部风。自从美国诞生了世界上第一台机械人后，很多国家都争先研究机器人技术。因为机器人技术可以帮助甚至替代人类在重工业生产，特别是高污染，高强度，高温度等人类不适宜的工作环境下高效率的工作。

机械手作为机器人的重要组成部分，它种类繁多。动力方面，可以是电动的，也可以是液压差传动。主要由控制系统，执行系统，动力系统等系统组成，由伸缩臂，升降臂，机械抓手等部分，以PLC软件为操作，使机器手更加方便快捷的运用于人类的生产活动当中。

关键词：机械手 手臂 圆柱坐标 液压缸 PLC

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河北工程大学毕业设计

目录

第1章 绪论 ······················································5 1.1 机械手发展现状 ················································5 1.2机器手种类······················································5 1.3 机器手由哪些部分组成 ···········································5 1.4设计机器手目的··················································6 第2章 三自由度直角坐标机械手的整体设计方案·························7 2.1机械手的自由度和坐标形式的确定································7 2.2 机械手的手部结构的确定方法·································· 7 2.3 机械手的手臂结构的确定······································ 7 2.4机械手的驱动方案的确定·······································7 2.5机械手的控制方案的确定········································7 2.6机械手的参数确定··············································8 第3章 机械手底座··················································9 3.1设计参数·······················································9 3.2方案设计······················································10 3.3液压马达的选择················································10 3.4回转支撑的选择················································11 3.5齿轮的强度校核················································13 3.6底座的方案确定·················································13 第 4 章 机械手升降臂··············································15 4.1升降臂设计要求···············································15 4.1.1 设计要求··················································15 4.1.2 设计方案的选择·············································15 4.2液压缸的选择·················································15 4.3执行原件主要参数的确定········································16 4.4升降臂的设计与计算············································18 4.5升降臂滑台设计···············································19 4.6撞快与形成开关的设计·········································20 第5章机械手伸缩臂·················································22 5.1伸缩臂的设计··················································22

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河北工程大学毕业设计

5.1.1设计参数··················································22 5.1.2设计方案··················································23 5.2液压缸的选择·················································23 5.3导向杆的设计·················································23 5.4底板的设计···················································25 5.5伸缩臂的确定·················································27 第6章 机械手夹持器···············································29 6.1夹持器的方案选择·············································29 6.2手抓部分的设计驱动计算·······································31 6.3液压缸的选择·················································31 6.4 V抓型的设计·················································32 6.5连杆的设计···················································36 第7章 机械手液压控制系统··········································38 7.1设计内容及要求················································38 7.1.1设计内柔···················································39 7.1.2设计要求···················································39 7.2设计方案······················································41 7.3液压泵的选择及其参数确定······································41 7.3.1个执行系统的最大流量计算···································41 7.3.2确定液压泵功率·············································42 7.3.3液压泵原件选择·············································42 7.4压力影响······················································43 第8章 机械手控制系统·············································45 8.1设计内容······················································45 8.2主电路图······················································46 8.3 PLC控制······················································49 8.4 软件设计·····················································52 第9章 致谢·······················································56 第10章 参考文献··················································57

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河北工程大学毕业设计

第1章 概述

1.1机器手的发展

机器手在当今社会中已经扮演的重要的角色，它在我们的日常生活里都特别的重要，我国的机械手事业不断的发展，已在当今社会中占有了一定地位。随着中国的崛起，相信我国的机械手会越来越好，越来越发达。 1.2机器手的分类

图1-2 机器人结构形式

1.3机器手的组成

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河北工程大学毕业设计

机械手的设计可以帮助我提高，升华大学四年所学的相关知识。帮助我进一步了解机械领域的一些东西。同时也使我明白工作的不容易，我们应该在工作当中更加细心，才能减少错误。

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河北工程大学毕业设计

第2章：三自由度圆柱坐标机械手设计方案

2.1 机械手的参数的确定

1、抓重 20kg 2、自由度数 3个自由度

3、座标型式 4、最大工作距离 150mm 5、手臂最大中心高 6、手臂运动参数

7、定位方式 等

8、定位精度 9、驱动方式 10、控制方式 PLC

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圆柱坐标 250mm 伸缩行程150mm 伸缩速度400m/s 升降行程250mm 升降速度250mm/s 行程开关或可调机械挡块?1mm 液压传动

河北工程大学毕业设计

第3章 底座的设计

3.1 设计参数

1、底座高400mm；

2、转动角度90 度，单向运动时间2 秒； 3.2 方案设计

底座采用液压马达驱动，结构形式采用圆筒结构，圆筒上端与回转支承连结。 由液压马达上的齿轮驱动。外圈通过法兰与上端的升降臂相连，并拖动升降臂回转。根据设计方案初定底座结构示意图如下:

图2—1 底座结构示意图

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河北工程大学毕业设计

3.3 底座液压马达的选择

选用整体式小型马达，同时考虑底座转速与承受转矩等因素，在满足条件的马达中：初步选定型号BYM—160 摆线齿轮液压马达，排量为160ml/r。 3.4 回转支撑的选择

故此设计选用01 系列的回转支承。考虑尺寸需要，初选011.20.280 型号,外圈直径360mm，外圈带有的齿圈齿顶圆直径为384mm，齿数为94，模数m=4。

回转支承的尺寸如表2-1

编号 基本型号 外型尺寸 安装尺寸 结构尺寸 齿轮参数 外齿参数 4 0.11.20.280 D?360mm d?200mm H?16 n?18 ??16

D1=328mm D2=232mm n1?2 D3?281 X?0 m?4 De?384 Z=94 3.5 齿圈齿轮的强度校核

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河北工程大学毕业设计

1)马达齿轮的齿数：

1初定液压马达的输出转速为40 r/min,底座的回转速度为n?r/s，所以传动比

8n140i???5.3

1n2?608Z2又因为 i? ，即得：Z1?18

Z1式中n1——马达输出速度 n2——回转支承转速 Z1——马达齿轮齿数

2.按齿面接触强度计算，即

KtT1??1?ZE?d1t?2.323?? (2-1)

?d???H?21)确定公式内各计算数值 （1）试选载荷系数 Kt?1.3?

（2）估算底座需要的转矩T?3.6Nm，这里选定马达齿轮传递的转矩为4Nm （4）按齿面硬度查的马达齿轮的解除疲劳强度极限?Hlim1?600MPa 齿圈的解除疲劳强度极限 ?Hlim2?500MPa

N1?60n1jLh

?60?40?1??2?8?300?15? ?1.728?1081.728?108N2??3.26?107 (2-2)

5.3

??H?1?KHN1?Hlim1?0.95?600?570MPa? (2-3)

KHN2?Hlim2??H?2??0.98?550?539MPa?校核：

计算马达齿轮分度圆直径d1t，带入??H?中较小值

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河北工程大学毕业设计

KTT1??1?ZE?d1t?2.32???d???H?2

21.3?4?1034.2?189.8??2.32?????13.2?539??22mm

原定马达齿轮的分度圆直径d1t?mz?4?18?72mm，满足强度要求。 3．

m?32KT1?YFaYSa? (2-4) ?????dZ1???F??确定公式内的各个计算数值

（1）由图10?20C?2?查的马达齿轮的弯曲疲劳强度极限 ?FE1?500MPa ，齿轮的弯曲疲劳强度极限??FE2?380MPa （2）由图查的弯曲疲劳寿命系数 KFN1?0.85，KFN2?0.88 （3） ? ???F?1?KHN1?FE10.85?500??303.57MPa (2-5) s1.4(4) 计算载荷系数K

K?KAKVKF?KF??1?1.12?1.2?1.35?1.814 (2-6)

(5)查取齿形系数

由表可查得YFa1?2.91,YFa2?2.208 (6)

由表可查得YSa1?1.53,YSa2?1.776

YFaYSa(7)计算齿轮和马达齿轮的并加以比较

?FYFa1YSa1??F?1YFa2YSa2???F?22）校核

2.91?1.53?0.01467303.57 (2-7)

2.208?1.726??0.01595238.86齿圈的数值大

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河北工程大学毕业设计

2KT1?YFaYSa?32?1.814?4?103m?3?0.01595?0.8 ???????dZ12??F238.86??对比设计结果，原定齿轮模数m=4 符合要求.

3.6 底座结构的确定

设计底座结构如图3-1

3-1底座结构

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河北工程大学毕业设计

第4章 升降臂设计

4.1 升降臂设计方案

4.1.1 设计方案的选择

更具所学相关知识查阅资料可选用： (1)液压驱动方式

采用液压缸作为动力源，液压缸直接驱动升降滑块。 (2)圆柱导轨

为保证升降滑台的运动平稳，且起到平稳导向作用，该设计大臂立柱采用双圆柱导轨。

根据方案制定升降臂示意图如图3-1

图4-1升降臂示意图

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河北工程大学毕业设计

4.2 液压缸的选择

(1)工作负载F?? 大约为850N。 (3)惯性负载Fa 由设计任务可知

0.5???0.25m/s

2??取0.25m/s,查液压传动?6?,p15,?t取0.1，Fa?21.25N，重力负载Fg。

4.3 执行原件主要参数的确定

需确定的结构尺寸是指液压缸的内径和活塞杆的直径d，首先受力分析由静止启动时，液压缸受力最大，受力分析如图3-2

图4-2 液压缸受压简图

所以F?FW?850N (4-1)

P?2MPa，初定Pb?0?背压?。

?D?P????F ?2?D?4F?23.27mm (4-2) ?P2 - 13 -

河北工程大学毕业设计

归为标准，D 取 50mm。对 。 (2)校核

已知背压 Pb?0.6MPa，受力分析如图 3—3 Pb

p 图4-3

2??D?2?d?2??D?由受力平衡可得 P????Pb?????????F

?2???2??2????Pb?D2?d2?4F0.6??106?0.052?0.0252?4?8506P???10?0.64?2MPa22?D??0.005????

所以D?50mm的液压缸选择合理。 （4-3）

l580??23.2?10 （4-4） d25由于长径比不大于10

F850（4-5） ????1.73MPa????

???d2?0.025244

(3)液压缸的选择与安装

选用中部轴销连接，液压缸的型号选择为B2*3*11*00。

4.4 升降臂导轨的设计与计算

4.4.1 升降臂导轨的结构设计

结构简单，便于加工，材料为Q235。

两圆柱导轨的直径为35mm；长为1200mm，接近法兰段为直径42 毫米，高21mm 的一段。

4.4.2 导轨的弯曲强度校核

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河北工程大学毕业设计

2?d32??203Wz???1571mm33232

(3-6)

抗拉强度：?b?200MPa 抗弯强度?w?400MPa

安全系数：nb?2.5 所以：

??w????w??400?160MPa (3-7)

nb2.5设滑台、伸缩臂、末端执行器等在内的质量约为50kg，重心偏离导轨中心约200。

所以G?50?9.8?490N

M?FL?490?0.2?98N (3-8)

Wz?Mmax??w?98??103?612.5mm3?1571mm3(3-9) 160 图4-4 导轨受弯示意图 式中F 为包括滑台、伸缩臂、末端执行器等在内 的质量运动时产生的动载荷，由此抗弯截面系数 所确定的升降臂截面尺寸是安全的。 4.4.3 导轨的刚度

材

料

力

学

的

挠

度

计

算公:Ml2y? 2EI(3-10)

2?d42??0.024I???1.5?10?8；

6464

升降到最高位时的高度l?540

Ml298?0.542y???0.089mm?l?0.54mm 9?710002EI2?200?10?7.96?10

4.5 升降臂滑台设计

设计简图如图3-5 所示

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