基于液压伺服电机传动的砖窑卸垛机器人手爪的结构设计及优化论文.doc

PAGE PAGE 基于液压伺服电机传动的砖窑卸垛机器人手爪的结构设计与优化 摘要：机器人（Robot）是自动执行工作的机器装置。它既可以接受人类指挥，又可以运行预先编排的程序，也可以根据以人工智能技术制定的原则纲领行动。它的任务是协助或取代人类工作的工作，例如生产业、建筑业，或是危险的工作。 本文首先简要介绍了液压伺服电机传动的砖窑卸垛机器人的概念，机械手硬件和软件的组成，机械手的系统工作原理，对机械手进行总体方案设计，确定了机械手的坐标形式和自由度，确定了机械手的技术参数。同时，设计出了机械手的夹持式手部结构，机械手的手腕结构，机械手的手臂结构。它的第一轴传动采用了三级斜齿轮传动，且电动机固定在第一臂上，最后一级的齿轮固定在机座上，从而使第一、二级的斜齿轮与第一臂一起绕机座作回转运动；第二、三轴的传动，则采用了差动行星齿轮传动，它具有传动比大、结构紧凑、传动效率高的优点，该结构的输出轴与第二、三臂都直接相连，从而使二、三臂作摆动。确定液压伺服电机传动的砖窑卸垛机器人的总体结构及传动方案设计。根据机器人的运动特点，液压伺服电机传动的砖窑卸垛机器人的第一臂也采用斜齿传动，第二、三臂则采用了一齿差的摆线针轮行星齿轮传动。它们的具体设计都用传统的设计方法来计算而得。最后，根据主传动系统的确定，对总体结构的一些具体零部件进行结构设计和优化。 关键字：液压伺服； 电机传动； 卸垛机器人； 手爪结构； 优化 Servo motors drive the robot gripper brick destacking the structural design and optimization Abstract: Robot (Robot) is a mechanical device which automatically performs the work. It can accept human command, they can run pre-programmed procedures can also be formulated according to the principles of artificial intelligence program of action. Its mission is to assist or replace human work, such as manufacturing, construction, or dangerous work. This paper briefly describes the hydraulic servo motor drive of the brick kiln destacking robot concept, robotic hardware and software components, the robot system works on the robot carry out the overall design, determine the robots coordinate forms and degrees of freedom, To determine the technical parameters of the manipulator. Meanwhile, the design of the robot hand gripper-type structure, structure of the robot wrist, the robot arm structure. Its first transmission uses a three-axis helical gears and motor fixed in the first arm, and finally a fixed gear on the base, so that the first two levels of helical gear with the first arm around Base for rotary movement; second axis of transmission, the use of a differential planetary gear drive, it has a transmission ratio, compact structure, the advantages of high transmission efficiency, the structure of the output shaft and the second and third arms are Directly connected, so