毕业论文：《砖窑卸垛机器人本体的结构设计与优化》.doc

砖窑卸垛机器人本体的结构设计与优化 摘要：随着社会的发展需要，工业机器人已经渗透了我们的生活、工作和经济方面，并且起到了很大的作用。本文首先简要介绍了工业机器人的概念，以及国内外的发展状况。其次对砖窑的生产环境和工人工作环境做了简要的介绍，以及对卸垛机器人本体的组成和分类，本体的自由度和坐标形式，气压传动技术的特点，进行了概述。 通过对对砖窑卸垛机器人本体进行总体方案设计，确定了本体的坐标形式和自由度，确定了本体的技术参数。同时，对本体结构上材料和部分零件进行了优化，设计出了机械本体上的手臂和手腕结构，计算了手臂和手腕伸缩，升降，转动时所需的驱动力矩和回转气缸的驱动力矩同时对本体使用的气缸进行了计算并作出了选择。本次设计是在于很好地把处于科技前沿的技术成功应用于新兴的码垛和卸跺生产线，解放两百万的劳动人民，提高生产效率，可以达到利用新技术促进生产的目的。 关键词：机器人本体；气压传动；结构设计；优化 机械0701_何朝辉 Abstract: With the social development needs, industrial robots have infiltrated our lives, work and economic aspects, and has played a significant role. This article first introduces the concept of industrial robots, as well as the development of domestic and foreign. Secondly, the production of brick kiln workers in the work environment and a brief introduction to the environment, as well as destocking composition and classification of the robot body, body, and coordinates in the form of freedom, the characteristics of air pressure drive technology, provides an overview. By pairs of the robot body kilns unshackling the overall design, to determine the coordinates of the body forms and degrees of freedom to determine the technical parameters of the body. Meanwhile, the structure of materials and some body parts were optimized designed the mechanical arm and wrist on the body structure, calculation of the arm and wrist stretching, lifting, driving torque required for rotation and torque of rotary cylinder and the body Selection and calculation of the cylinder. This design is very well put that in the technological forefront of the emerging technology successfully used in stamp production line stacking and unloading, the liberation of two million working people and improve the production efficiency can be achieved using new technology for production purposes. Key words: Robot body，pneumatic transmission，structural optimization 目录 第一章 综述 1.1 工业机器人概述.................................................1 1.2 砖窑卸垛机器人本体的组成.......................................3