六轴工业弧焊机器人.doc

六轴工业弧焊机器人 摘要 工业机器人作为现代制造技术发展重要标志之一和新兴技术产业，已被世人所认同，并正对现代高技术产业各领域以至人们的生活产生了重要的影响。焊接制造工艺由于其工艺的复杂性、劳动强度、产品质量、批量等要求，使得焊接工艺对于自动化、机械化的要求极为迫切，从而焊接机器人的出现时焊接自动化的革命性进步。弧焊机器人是焊接机器人中的一种，本文对弧焊机器人的设计进行了系统说明。本文简要介绍了一下目前焊接自动化的发展情况，焊接机器人的分类、用途等，使大家对弧焊机器人有了整体的认识；在第二章中，初步确定了弧焊机器人的设计方案：弧焊机器人的结构形式、驱动方式以及主要参数，对机器人性能做了简要说明；第三章机械设计部分，包括驱动元件的选取以及主要构件的设计计算和强度校核；最后，对弧焊机器人的控制部分做了介绍，并编制了实现其运动的PLC程序，便于人们操作控制。 关键词：焊接；工业机器人；自由度 Six-axis industrial arc welding robot Abstract Industrial robot as an important sign of?modern manufacturing technology development and an?emerging technology has been recognized by the world and has a significant impact on various fields of modern high-tech industries as well as peoples lives. Manufacturing process of welding process because of their complexity, labor intensity, product quality, volume, etc. making the requirement of welding technology?toward automation, mechanization urgent.?So the emergence of welding robot is a?sign of?revolutionary advances in automation. Arc welding robot is a kind of robot, this paper, makes systematic descriptions of arc welding robot. This paper briefly introduces the current developments in welding automation, welding robot classification, use and so on, so that we can have?the whole knowledge of the arc welding robot ; in the second chapter, set the initial design of arc-welding robot : arc welding robot structure, drive pattern, and the main parameters, make a brief description of the robot performance ; Chapter III mechanical design, including the selection of drive?elements and the calculation of the main components and strength check; Finally, the?control part of welding robot is introduced and developed a campaign to achieve its PLC program, convenient for people to control. Key word: Welding、industry robot、 Degree of freedom 目录 1、 绪论 1 1.1、 焊接自动化发展概况 1 1.2、机器人焊接发展概况 2 1.2.1、焊接机器人发展历程 2 1.2.2、焊接机器人国内外应用现状 2 1.2.3、焊接机器人分类及组成 4 2、机器人结构方案确定 5 2.1、设计任务及要求 5 2.2、结构方案设计 5 3、机械设计部分 8 3.1、手腕1设计计算 8 3.1.1、手腕1电机选择 9 3.1.2、联轴器设计 9