初稿——绪论 (自动保存的).docxVIP

四轴机械手结构设计 摘要 在当今大规模生产制造中，企业为提高生产效率．保障产品质量，普遍重视生产过程的自动化程度，工业机器人作为自动化上产线上的重要成员，逐渐被企业认同并采用。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，工业机器人土要承担着焊接、喷涂、搬运以及堆垛等重复性并且劳动强度极大的工作。 本文将设计一台四自由度的工业机器人，用于实现注塑机的注塑过程以代替人工。首先，本文将根据设计要求及实际情况设计出多种方案并选出最优方案；然后根据方案来确定底座、台车以及台车层数和它们的具体位置。根据所确定的位置使用理论方式来进行各个部件材料和尺寸的选择及验证方案的可行性，使其具有结构简单，操作方便，精确度高，可靠性好，寿命长等特点，在实际生产中有较高的实用性。 关键词：机械手 滚珠丝杠 步进电机 直角坐标 The Design of an Industrial Robot with Four DOFs for Injection Molding Machine Abstract In the modern large-scale manufacturing industry, enterprises pay more attention on the automation degree of the production process in order to enhance the production efficiency, and guarantee the product quality. As an important part of the automation production line, industrialrobots are gradually approved and adopted by enterprises. The technique level and the application degree of industrial robots reflect the national level of the industrial automation to some extent, currently, industrial robots mainly undertake the jobs of welding, spraying, transporting and stowing etc. , which are usually done repeatedly and take high work strength, and most of these robots work in playback way. In this paper I will design an industrial robot with four DOFs, which is used to mold injection to replace workers.First, I will?design some plans ording to the design requirements and the?actual situation ?and?select the best one. Then determine the base, trolleys and trolley layers and their specific location base on the scheme. Using the formula to check the unit’s Materials and dimensions and check the Feasibility of plan.Be sure the Machine have advantages like simple structure, convenient operation, high precision, good reliability, long life and so on. has high practicability in actual production Keyword: manipulator ball screws step motor Cartesian coordinate 1 绪论 1.1前言 用于再现人手的功能的技术装置称为机械手。机械手是模仿着人手的部分动作，按给定程序、轨迹和要求实现自动抓取、搬运或操作的自动机械装置。在工业生产中应用的机械手被称为工业机械手。 工业机械手是近几十年发展起来的一种高科技自动生产设备。工业机械手也是工业机器人的一个重要分支。他的