目 录
摘 要........................................................................................................................................II
Abstract.....................................................................................................................................III
目 录 ......................................................................................................................................IV
1 绪 论...................................................................................................................................1
1.1 选题背景.......................................................................................................................1
1.2 机械手发展现状和趋势..............................................................................................2
1.3 机械手的系统工作原理及组成..................................................................................2
1.3 球坐标工业机械手的组成..........................................................................................2
2 球坐标工业机械手设计要求与方案.....................................................................................3
2.1 球坐标工业机械手技术参数......................................................................................3
2.2 总体方案分析...............................................................................................................3
2.3 动作原理....................................................................................................................4
2.4 工业机械手的传动方案设计....................................................................................4
2.5 球坐标工业机械手驱动方式的选择...........................................................................5
3 球坐标工业机械手各主要组成部分设计.............................................................................7
3.1 手部结构.......................................................................................................................7
3.1.1 手部结构种类....................................................................................................7
3.1.2 夹持器设计计算...............................................................................................8
3.1.3 手部校核............................................................................................................9
3.2 升降方向设计计算......................................................................................................9
3.2.1 初步确系统压力.............................................................................................10
3.2.2 升降油缸计算.................................................................................................10
3.3 油缸主要部位的计算校核.........................................................................................14
3.3.1 缸筒壁厚的计算..............................................................................................14
3.3.2 活塞杆强度和液压缸稳定性计算.................................................................15
3.3.3 缸筒壁厚的验算..............................................................................................17
3.3.4 缸筒的加工要求.............................................................................................18
3.3.5 法兰设计..........................................................................................................19
3.3.6 (缸筒端部）法兰连接螺栓的强度计算 ........................................................19
3.4 活塞的设计................................................................................................................21
3.5 导向套的设计与计算................................................................................................22
3.6 端盖和缸底的设计与计算........................................................................................24
3.7 缸体长度的确定........................................................................................................25
3.8 缓冲装置的设计........................................................................................................25
3.9 排气装置....................................................................................................................26
3.10 密封件的选用..........................................................................................................28
3.11 防尘圈......................................................................................................................29
3.12 液压缸的安装连接结构..........................................................................................30
3.13 水平方向设计计算..................................................................................................33
3.13.1 水平方向计算...............................................................................................33
