机械手-机器架体焊接作业机器人机械CAD图纸设计.doc

摘要 本论文在综述近年来机器人技术研究和发展状况的基础上，结合焊接机器人的设计，对机器人技术进行了系统的分析，提出了整体结构、执行部件的设计方案。 本文结合焊接的位置和精度的各方面的要求以及机器人在焊接过程中出现的问题，参考近几年机器人技术研究和发展的状况，在充分发挥机电一体化的特点优势互补，对焊接机器人的整体机械结构、传动系统和驱动装置进行了分析和设计，提出了一套整体结构设计方案和传动方案。采用直角坐标的框架式机械结构形式，这种方式既有对环境状态的快速反应和分析判断能力，又有可长时间持续工作，精确度高、抗恶劣环境的能力。并对它的三个坐标运动进行了设计；采用步进电机驱动，导轨和滚珠丝杠传动。 通过以上的工作，得出了结构简单、装配容易、稳定性好，可以代替人的劳动，到环境恶劣的地方去工作，实用性强，适合全面推广和应用。 关键词：机器人；焊接；机电一体化；结构设计； ABSTRACT The present paper in the summary in recent years the robot engineeringresearch and in the development condition foundation, the union welded the robot the design, has carried on the system analysis to the robottechnology, proposed the overall construction, the executive component design proposal. This article unifies the welding the position and the precisionvarious aspects request as well as the robot the question which appear in the welding process, the reference in recent years robotengineering research and the development condition, in full displayintegration of machinery characteristic superiority supplementary, the butt weld robot overall mechanism, the transmission system and the drive has carried on the analysis and the design, proposed a set of overall constructions design proposal and the transmission plan. Uses the rectangular coordinates the frame posture mechanism form this way both has to the environment condition rapid reaction and the analysis judgement ability, and has may the long time continue to work, the precision is high, the anti- adverse circumstance ability.And has carried on the design to its three coordinates movement; Uses a step of machine actuation, the guide rail and the ballbearing guide screw transmission. Through the above work, obtained the structure simply, the assembly has been easy, the stability well, was allowed to replace personswork, worked to the environment bad place, the usability was strong,suits the comprehensive promotion and the application. Keyword: Robot；Welding；Integration of machinery；Structural design； 目录 1.绪论…