(焊接机器毕业论文).docxVIP

摘 要随着科技的发展和工业需求的增加，焊接技术在工业生产中所占据的分量越来越大，而且焊接技术的优良程度直接影响着零件或产品的质量。国内焊接机器人应用虽已具有一定规模，但与我国焊接生产总体需求相差甚远。因此，大力研究并推广焊接机器人技术势在必行。本设计的重点是运用机械原理和机械制造装备设计方法设计焊接机器人的实践和方法。本次设计，是在了解焊接机器人在国内外现状的基础上，进而掌握焊接机器人内部结构和工作原理，并对手臂和腕部进行结构设计。同时了解机器人机械系统运动学及运动控制学。为工业上焊接机器人的设计提供理论参考、设计参考和数据参考，为工业设计者提供设计理论和设计实践的参考。该机器人具有刚性好，位置精度高、运行平稳的特点。关键字：焊接机器人；机械机构设计；机械系统运动学ABSTRACT With the development of technology and the increase in industrial demand, welding in industrial production occupied more and more weight, and excellent welding technology directly affects the degree of the quality of parts or products.Although the domestic application of welding robot with a certain scale, but falls far short of the overall demand for welding.Therefore, great efforts to study and promote the welding robot technology is imperative.The focus of this design is the use of mechanical theory and design of machinery and equipment design and methods of practice welding robot.The design of the welding robot in understanding the basis of the status quo at home and abroad, and then grasp the welding robot and working principle of the internal structure, and structural design of the arm and wrist.At the same time understand the robot mechanical system kinematics and motion control study.For the design of industrial welding robots to provide a theoretical reference, reference and data reference design for industrial designers and design practice, design theory reference.The robot has a good rigidity, high precision location, stable characteristics.Keyword:Welding robot；mechanical structure design；robot mechanical system kinematics目 录摘 要IABSTRACTII第一章 引言1第二章 焊接机器人的总体方案32.1总体设计的思路32.2自由度和坐标系的选择32.3焊接机器人结构设计的基本要求3第三章 驱动方式的选择53.1 液压驱动53.2 气压驱动53.3 电机驱动6第四章 传动方式的选择74.1带传动74.2链传动74.3齿轮传动84.4蜗杆传动8第五章 焊接机器人的组成105.1执行机构10第六章 腕部结构的设计126.1腕部结构设计的基本要求126.2腕部结构及选择12第七章 臂部结构的设计及计算207.1臂部结构207.2臂部结构的选择及计算校核22第八章 焊机机器人的材料248.1机械材料选用原则248.2零件材料25第九章 焊接机器人的运动轨迹计算279.1位姿矩阵279.2焊接机器人位姿方程的正、逆解31总 结34参考文献35致 谢36附录37附录A：焊接机器人的总装图37附