毕业设计（论文）-码垛机器人转动关节设计.docVIP

目录 摘要 3 Abstract 4 第一章 绪论 5 1.1课题来源 5 1.2课题研究的目的和意义 5 1.3码垛机器人国内外研究和应用 7 1.3.1总述 7 1.3.2国外研究现状 7 1.3.3 国内研究、应用现状 14 1.4 本文主要设计内容 15 第二章 码垛机器人的系统功能要求 16 2.1 引言 16 2.2 码垛机器人系统的总体要求 16 2.3 码垛机器人系统的功能要求 17 2.4 码垛机器人系统主要技术指标 17 第三章 码垛机器人转动部分的结构设计 18 3.1 引言 18 3.2 码垛机器人总体结构 18 3.3 码垛机器人腕部回转关节结构设计 19 3.4 腕部回转结构设计和选型 20 3.4.1 腕部回转结构设计 20 3.4.2 腕部电机和减速器选型 22 3.5 码垛机器人的腰部回转关节结构设计 25 3.6 腰部回转结构主要零件设计和计算 26 3.6.1 腰部回转结构设计 26 3.6.2 腰部电机和减速器选型 27 3.7 小臂结构设计 31 3.8本章小结 32 第四章 码垛机器人转动关节关键零部件校核 33 4.1引言 33 4.2 腕部旋转轴危险截面的强度校核 33 4.3 腕部旋转轴轴承的强度校核 34 4.4 底座转盘轴承的寿命计算 35 第五章 结论及展望 37 5.1结论 37 5.2展望 37 参考文献 38 致 谢 39 码垛机器人转动关节设计 摘要 近年来，机器人技术发展非常的迅速，各种用途的机器人在各个领域得到广泛的应用。作为物流自动化领域的一门新兴技术，码垛技术获得了飞速的发展。码垛机器人以其高效、高精度、占地范围小等优势正在快速占领整个码垛行业。 The design of palletizing robot rotating joint Abstract In recent years, robotic technology is developing very rapidly, various uses robots have been widely applied in various fields. A new technology, as the logistics automation field in recent years, palletizing technology has obtained the rapid development. Palletizing robot for its high efficiency, high precision, small occupied area and other advantages are quickly occupy the entire palletizing industry. Especially the western developed countries have almost completely replaced manual palletizing. From the beginning of the seven five key science and technology, China industrial robot and application engineering as one of the key research and development, the Chinese robot industry from scratch. However, on the whole Chinas robot industry is still very weak, the research of robot is still a long way to go. This paper is the design of rotating joint mechanism of palletizing robot, the rotating joint is mainly aimed at the waist turning joint and wrist rotation joint, designed to drive the waist in the wrist, as well as part of the arm design. First determine the rotation scheme two parts according to the requirements of the project, and then use the three-dimen