圆钢机械手毕业设计说明书kojhhit6.doc

摘 要 液压式圆钢机械手是一种新型的处理钢材多用工具，它具有结构合理、使用安全、装卸快速和一机多用等优点，发展前景前景十分广阔。目前销往国内市场上的机械手机液压系统已基本定型，再加上机械结构的不断优化，电气操作系统日益简单化、方便化，因此，在该领域里，未来将是对智能机械手的研究。 经过对以往的钢厂机械手使用情况进行分析，并对大量的圆钢机械手用户的意见进行整理，我们希望设计出比较完善的圆钢机械手的液压系统。 我们所研究的移动式圆钢机械手适用于各种棒料，工件的自动搬运及上下料工作。例如铝型材挤压成型机铝棒料的搬运及高温棒料的自动上料作业，最大抓取棒料直径可达180 mm，最大抓握重量可达30公斤，最大行走距离为1200 mm。根据作用要求和载荷情况，机械手各关节运动速度可调。移动式搬运上料机械手主要由手爪，小臂，大臂，手臂回转机构，小车行走机构，液压泵站电器控制系统组成。整个机械手及液压系统均集中设置在行走小车上，结构紧凑。电气控制系统采用OMRON可编程控制器，各种作业的实现可以通过编程实现。 随着机电一体化技术和计算机技术的应用，其研究和开发水平获得了迅猛的发展并涉及到人类社会生产及生活的各个领域，特别是工业机械手在生产加工中的广泛应用。 关键词： 圆钢机械手； 液压系统； 棒料 Abstract The hydraulic round steel manipulator is a new type of tool to process steel . It has the reasonable structure and use safely. Moreover, it is fast to be loaded and unloaded with multi- usage. So, it has a foreground development prospect. Currently, mechanical mobile hydraulic system sold to domestic market has basically finalized the design and the mechanical structure has experienced continuous optimization. Furthermore, electrical operating system is increa- singly becoming more and more simplified and convenient. Therefore, intelligent robots will be the research of the future in this field. After the previous analysis towards using situation of steel manipulator and clearing up a lot of opinions of the user, we hope we can design a comparatively perfect round steel manipulator hydraulic system. The mobile manipulators we study are suitable for various kinds of distant bar feeders, workpiece automatic handling and up-down material work, such as handling aluminum bar stock of aluminum extrusion molding machine and automatic feeding operations of high te- mperature bar stock. The biggest bar stock diameter grabbed can reach 180mm, maximum grasping weigh more than 30 kilograms, and the biggest walking distance can be 1200mm. According to the function requirement and load conditions, manipulator velocity of each joint is adjustable. Mobile manipulators handling materials are mainly composed of paws, forearm, arm, ar