码跺机器人机械毕业机械CAD图纸设计.doc

项目:码跺机器人机械设计  目 录 摘 要 - 3 - Abstract - 4 - 1．绪论 - 5 - 1.1研究背景 - 5 - 1.1.1传统码垛模式 - 5 - 1.1.2现代机器人码垛技术 - 7 - 1.2现代机器人码垛机的发展状况 - 8 - 1.3研究目的和意义 - 9 - 1.3本文主要研究工作 - 9 - 2.码垛机器人介绍 - 10 - 2.1常用码垛系统介绍 - 10 - 2.2 码跺机器人构成介绍 - 18 - 3 码垛机器人整体设计 - 19 - 3.1码垛机器人原理及方案确定 - 19 - 3.2圆柱坐标型机器人工作原理 - 20 - 3.3码垛机器人运动控制系统方案设计 - 22 - 3.4码垛机器人结构设计及原理 - 24 - 3.4.1码垛机器人整体结构 - 25 - 3.4.2码垛机器人腰部设计 - 26 - 3.4.3码垛机器人臂部设计 - 27 - 3.4.4码垛机器人腕部设计 - 28 - 3.4.4码垛机器人机械抓手设计 - 29 - 4.码跺机器人主要部件选型设计 - 31 - 4.1直流伺服电机的选型 - 31 - 4.2齿轮减速器的设计计算 - 33 - 4.3滚珠丝杠的选型 - 34 - 4.4导轨的选型 - 35 - 小结 - 37 - 参考文献 - 38 - 摘 要 码垛机器人作为现代码垛系统中最重要的设备，它的操作范围、码垛速度、稳定性等工作能力决定了整个码垛系统设计的成败。本文根据码垛系统的应用确定码垛机器人的工作空间范围、码垛能力等性能参数。本论文中主要研究有大部分内容：一、结构设计及关键零部件的选型与设计：三、通过对直流伺服电机控制特性分析，应用PWM调速技术对直流伺服电动机调速，本文设计了转速电流双闭环电机调速系统及其参数四、建立机器人模型，在Simulink环境下对机器人机电系统控制性能进行仿真。关键词：四坐标圆柱形机器人；码垛系统；；Palletizing robot as modern palletizing system is the most important equipment, its operation scope, palletizing speed, the stability of the entire work ability decide the success or failure of palletizing system design. According to the application of palletizing system to determine the scope of the working space of palletizing robot, palletizing ability performance parameters. This thesis mainly studies have four most content: a, analyzes the robot structure used yards stomped, comprehensive optimization in determined after this palletizing system of mechanical design structure; robot Two, four cylindrical robot coordinate the mechanical structure design and key components selection and design: three, through the dc servo motor control characteristic analysis, application technology of PWM speed dc servo motor speed control, this paper designed a speed the current double closed loop speed system and its parameters; motor Four, build robots in Simulink 3d model, under the environment of electromechanical system of robot control performance simulation. This paper mainly described the four degrees of freedom is developed the robot vertical joints princi