搬运机器人毕业论文-搬运机器人文献

摘要

在当今大规模制造业中，企业为提高生产效率，保障产品质量，工业机器人作为自动化生产线上的重要成员，逐渐被企业所认同并采用。工业机器人的技术水平和应用程度在一定程度上反映了一个国家工业自动化的水平。目前，工业机器人主要承担着焊接、喷涂、搬运以及堆垛等重复性并且劳动强度极大的工作。

本课题主要对搬运机器人的总体结构展开讨论。通过详细了解搬运机器人在工业上的应用现状，提出了具体的搬运机器人设计要求，并根据搬运机器人各部分的设计原则，进行了系统总体方案设计以及包括：机器人的手部、腕部、臂部、腰部在内的机械结构设计。此搬运机器人驱动源来自液压系统、电机，执行元件包括：柱塞式液压缸、摆动液压缸、伸缩式液压缸等。通过液压缸运动来实现搬运机器人的各关节运动，进而实现搬运机器人的实际作业。

关键词：搬运机器人；液压系统；机械结构设计；操作

Abstract

In the modern large-scale manufacturing industry,enterprises to improve productivity, and,guarantee pr

oduct quality, as an important part of the automation production line, industrial robots are gradually approved and adopted by enterprises. Industrial robot technology standards and application level, to a certain extent, reflect a level of national industrial automation. Currently, Industrial robot mainly tasked with welding, spraying, handling and stacking, repetitive and intensity of significant work.

The subject of the main part of the handling of their machinery discussions, and on the original mechanical structure proposed for the new improved method, which makes the handling robot is more applicable to the present industrial working environment.Through a detailed understanding of the robot in the industrial application,to propose specific handling robot design requirements,and according to the robot design principles of various parts,for the system as well as including:the robot's hand, wrist, arm, waist, the design of mechanical structures.The transfer robot driven by the source from the hydraulic system、electrical machinery, and the implementation of components including:plunger hydraulic cylinders, hydraulic cylinders, swing, telescopic hydraulic cylinders, etc.Through the hydraulic cylinder movements to implement the joint transport robot motion,And realize the operational handling robot.

Keywords：Transfer robot；Hydraulic System；Mechanical Design；Operating

摘要.......................................... II 第1章总论................................... - 45 -

1.1 概述 ..................................................................................................................................... - 45 -

1.2 工业机器人的历史、现状及应用 ..................................................................................... - 46 -

1.3 机器人发展趋势 ................................................................................................................. - 48 -

1.4 本文主要研究内容 ............................................................................................................. - 48 -

1.5 本章小结 ............................................................................................................................. - 48 -第2章搬运机器人的总体方案..................... - 49 -

2.1 总体设计的思路 ................................................................................................................. - 49 -

2.2 自由度和坐标系的选择 ..................................................................................................... - 50 -

2.3 搬运机器人的组成 ............................................................................................................. - 51 -

2.3.1 执行机构 ................................................................................................................. - 51 -

2.3.2 驱动机构 ................................................................................................................. - 53 -

2.3.3 控制系统分类 ......................................................................................................... - 54 -

2.4 搬运机器人的技术参数 ..................................................................................................... - 54 -

2.5 本章小结 ............................................................................................................................. - 54 -第3章手部夹持器的结构设计及计算............... - 55 -

3.1 手部夹持器 ......................................................................................................................... - 55 -

3.2 手部设计基本要求 ............................................................................................................. - 56 -

3.3 选择手抓的类型及夹紧装置 ............................................................................................. - 57 -

3.4 手爪的结构设计 ................................................................................................................. - 57 -

微型压力传感器芯片3.4.1 手爪的力学分析 ..................................................................................................... - 57 -

3.4.2 夹紧力和驱动力的计算 ......................................................................................... - 59 -

3.5 本章小结 ............................................................................................................................. - 60 -第4章腕部结构设计及计算....................... - 62 -

4.1 腕部设计的基本要求 ......................................................................................................... - 62 -

4.2 腕部结构及选择 ................................................................................................................. - 62 -

4.2.1 典型的腕部结构 ..................................................................................................... - 62 -

4.2.2 腕部结构和驱动结构的选择 ................................................................................. - 62 -

4.3 腕部结构设计计算 ............................................................................................................. - 63 -

4.3.1 腕部驱动力计算 ..................................................................................................... - 63 -

4.3.2 腕部驱动液压缸的计算 ......................................................................................... - 64 -

4.4 液压缸盖螺钉的计算 ......................................................................................................... - 65 -

4.5 动片和输出轴间的连接螺钉 ............................................................................................. - 66 -

4.6 本章小结 ............................................................................................................................. - 67 -第5章臂部结构的设计及有关计算................. - 67 -

5.1 臂部设计的基本要求 ......................................................................................................... - 68 -

5.2 手臂的典型机构以及结构的选择 ..................................................................................... - 69 -

5.2.1 手臂的典型运动机构 ............................................................................................. - 69 -

5.2.2 手臂运动机构的选择 ............................................................................................. - 69 -

5.3 手臂直线运动的驱动力计算 ............................................................................................. - 69 -

5.3.1 手臂摩擦力的分析与计算 ..................................................................................... - 70 -

5.3.2 手臂惯性力的计算 ................................................................................................. - 71 -

5.3.3 密封装置的摩擦阻力 ............................................................................................. - 71 -

5.4 液压缸工作压力和结构的确定 ......................................................................................... - 71 -

5.5活塞杆的计算校核 .............................................................................................................. - 73 -

明星脸相似度

5.6 本章小结 ............................................................................................................................. - 74 -第6章机身结构设计及计算....................... - 75 -

6.1机身的整体设计 .................................................................................................................. - 75 -

6.2机身回转机构的设计计算 .................................................................................................. - 76 -

6.2.1蜗杆传动驱动力矩的计算 ...................................................................................... - 76 -

6.2.2 电机和减速器的选择 ............................................................................................. - 77 -

6.2.3 蜗轮蜗杆的校核 ..................................................................................................... - 78 -

6.3.1 手臂偏重力矩的计算 ............................................................................................. - 79 -

6.3.2 升降不自锁条件分析计算 ..................................................................................... - 80 -

龙灯制作6.3.3 手臂做升降运动的液压缸驱动力的计算 ............................................................. - 80 -

6.4 轴承的选择分析 ................................................................................................................. - 81 -

6.5 本章小结 ............................................................................................................................. - 81 -第7章搬运机器人自行走设计........................ - 81 -

7.1 机器人自行走分析 ............................................................................................................. - 81 -

7.2 机器人自行走数据计算 ..................................................................................................... - 82 -

7.2.1 数据计算过程 ....................................................................................................... - 82 -

7.2.2 蜗轮蜗杆的校核 ..................................................................................................... - 83 -

信号调理模块7.2.3 对搬运机器人自行走支承轴的强度校核 ............................................................. - 84 -

2dj7.3 本章小结 ............................................................................................................................. - 86 -第8章搬运机器人液压回路及控制电路分析......... - 86 -

8.1 搬运机器人液压回路元件的选择 ..................................................................................... - 86 -

8.2 搬运机器人液压回路分析 ................................................................................................. - 88 -羟基自由基

8.3 搬运机器人控制电路分析 ................................................................................................. - 89 -

8.4 本章小结 ............................................................................................................................. - 90 -第9章总结.................................... - 90 -

9.1 主要任务 ............................................................................................................................. - 91 -

9.2 技术要求 ............................................................................................................................. - 91 -

9.3 设计步骤 ............................................................................................................................. - 91 -

9.3.1 搜集资料 ................................................................................................................. - 91 -

9.3.2 计算 ......................................................................................................................... - 92 -

9.3.3装配图及零件图的绘制 .......................................................................................... - 92 -

9.4 设计感想 ............................................................................................................................. - 92 -

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