锻造工件搬运装卸机械结构设计
摘要
本文旨在针对锻造工件生产线的实际需求，设计一款搬运装卸机械结构。首先，通过对锻造工件特性及生产线环境的深入分析，完成了机械结构的整体设计，包括合理自由度的确定、各关节尺寸的精确计算以及运动关节的结构优化。同时，根据机械结构的工作条件，选择了适当的材料，并对其强度、刚度进行了验证，确保机械结构的安全可靠。其次，考虑到机械结构的动力需求，选择了液压缸作为动力元件，并对其活塞驱动力进行了详细计算，同时验证了材料的强度与刚度。接着，初步设计了机械结构的运动控制方案，为后续的运动控制提供了理论基础。最后，利用CAD和SW绘图软件，根据设计尺寸建立了机械结构的三维模型，并导入ADAMS中进行运动分析，通过添加运动关系副，获得了角速度和角加速度的运动曲线图，验证了设计的合理性。本文的研究为锻造工件搬运装卸机械的设计提供了理论支持和实践指导。
关键词：锻造工件；搬运装卸机械；结构设计；强度验证；ADAMS运动分析
Abstract
This paper aims to design a handling and handling machinery structure according to the actual requirements of the forging workpiece production line. Firstly, through the in-depth analysis of the characteristics of the forging workpiece and the production line environment, the overall design of the mechanical structure is completed, including the determination of the reasonable degree of freedom, the accurate calculation of the size of each joint and the structural optimization of the moving joints. At the same time, according to the working conditions of the mechanical structure, the appropriate material is selected, and its strength and stiffness are verified to ensure the safety and reliability of the mechanical structure. Secondly, considering the power requirements of the mechanical structure, the hydraulic cylinder is selected as the power element, and the driving force of the piston is calculated in detail, and the strength and stiffness of the material are verified. Then, the motion control scheme of the mechanical structure is preliminarily designed, which provides the theoretical basis for the subsequent motion control. Finally, using CAD and SW drawing software, the 3 D model of the mechanical structure was established according to the design size, and it was imported into ADAMS for motion analysis, by adding motion relationship pair, the motion curve of angular velocity and angular acceleration was obtained to verify the rationality of the design. The research in this paper provides theoretical support and practical guidance for the design of forging workpiece handling and handling machinery.
Key words: forging workpiece; handling and unloading machinery; structural design; strength verification; ADAMS motion analysis
目录
第1章 绪论
1.1设计背景及来源
1.2国内外工业锻造工件搬运装卸机械的发展现状
1.2.1国外发展现状
1.2.2国内发展现状
1.3存在的问题
1.4本文拟使用的方案
第2章 锻造工件搬运装卸机械的手部设计
2.1 锻造工件搬运装卸机械的总体方案设计
2.2 手部设计要求
2.3 锻造工件搬运装卸机械动力源的选择
2.3.1动力元件的选用
2.4 手爪的夹紧力计算
2.4.1 手指结构受力分析
2.4.2手指对工件的夹持力的计算
2.4.3夹紧缸驱动力的计算
2.4.4液压缸的尺寸计算
2.4.5手指的刚度验证
第3章 臂部的结构设计
3.1 腕部的结构设计
3.1.1工业锻造工件搬运装卸机械的腕部结构特点
3.1.2工业锻造工件搬运装卸机械的腕部回转力矩计算
3.1.3 回转油缸的驱动力矩计算
3.1.4 液压缸缸盖联接计算验证
3.2 工业锻造工件搬运装卸机械的臂部结构计算
3.2.1工业锻造工件搬运装卸机械的臂部设计要求
3.2.2臂部的结构形式。
3.2.3臂部的驱动力矩计算
3.2.4缸盖联接件的计算验证
3.3 机座的结构设计
第4章 锻造工件搬运装卸机械的控制系统设计
4.1锻造工件搬运装卸机械的控制方式
4.2控制方案的设计
4.3控制策略
第5章 锻造工件搬运装卸机械的运动仿真
5.1锻造工件搬运装卸机械的建模
5.1.1 使用solidworks建模
5.2 锻造工件搬运装卸机械的仿真运动
5.2.1 ADAMS的介绍
5.2.2实际操作
5.3 仿真结果
5.4 轨迹方程
5.4.1空间坐标的选用
5.4.2坐标方程的确定
总结
致谢
参考文献
