大学毕业设计论文-柔性冲压生产线搬运机器人设计.docVIP

摘要 目前，工业机器人已经广泛运用于工厂的生产车间，搬运机器人更是在车间的生产线上随处可见。由于生产车间的人工劳动力越来越缺乏，而生产车间的劳动强度也不断增强，故而越来越多工业机器人被运用到生产中，其中常见的有搬运机器人、弧焊机器人、点焊机器人等。在生产车间中机器人是工业生产中的主要劳动力，工业机器人的运用使得车间生产效率大大提高。我国的工业机器人相比国外强者来说，技术还很缺乏，需要不断的研究改进。近年来我国在工业机器人的理论、技术研究方面取得了傲人的成就，使得我国与国外强者在机器人方面的技术差距不断减小。 本课题针对工厂的规模限制以及工厂中冲压机床的数量不足的现象，设计了一种搬运机器人组成柔性生产冲压线，以便将多道工序在同一机床加工。其主要任务是将指定位置的汽车冲压模具，搬运到冲压机床工作台上，在冲压完成后将工件搬运到另一处指定地点。 首先，针对柔性冲压生产线的实际情况对机器人进行结构设计、材料的选择及其强度、刚度验证，包括机器人应具有的合理自由度的确定、各个关节尺寸设计，及各个运动关节的结构设计。其次，对机器人关节所需动力源的计算选择，并给出相关技术参数。本文所选择的提供机器人运动的动力元件为液压缸。进行液压缸活塞驱动力计算，及其材料的强度、刚度验证。然后，给出机器人运动控制的初步方案。最后，根据已经设计好的尺寸运用绘图软件建模。将所设计机器人模型导入ADAMS中，通过运动关系副的添加进行运动分析，得到其角速度以及角加速度的运动曲线图，以验证其合理性。 关键词 ：工业机器人 结构设计 液压缸 控制系统 The design of handling robot about flexible punch line Abstract：At present, industrial robot have been widely used in industrial machinery production workshop, the use of robot is more common. Due to the lack of labor is more and more common in production workshop, and the labor intensity is also growing., More and more industrial robots have been applied to production, which mainly are handling robot, welding robot, welding robot etc. Robot is the key equipment in the industrial .With the help of robot, the efficiency is improved. Compared with foreign robot, our robot in technology is behind them, so we have to do more and more research about this. However, recent years we have made great progress in technology, materials and design. We are on the way to catch up with eastern countries. The design is for solving the problem which are the lack of punching machine and limit size, so I have designed a flexible stamping production line composed by a robot, its main function is multiplying several process on a same machine tool. . Its main task is to specify the location of the car stamping die, moving to the stamping machine tool workbench, after the stamping is completed then, moved to another designated location. Firstly, choose the materials which is able to satisfy the stiffness and the strength in the act