搬运机器人结构设计毕业设计方案正文.doc

4-DOF搬运机器人结构设计 学生姓名： 班级： 指导老师： 摘要：在当今大规模制造业中，企业为提升生产效率，保障产品质量，工业机器人作为自动化生产线上关键组员，逐步被企业所认同并采取。工业机器人技术水平和应用程度在一定程度上反应了一个国家工业自动化水平。现在，工业机器人关键负担着焊接、喷涂、搬运和堆垛等反复性而且劳动强度极大工作。 本文研究了中国外机械手发展现实状况，经过学习机械手工作原理，熟悉了搬运机器人运动机理。在此基础上，确定了四自由度搬运机器人基础系统结构，对搬运机器人结构进行了简单强度计算，完成了搬运机器人机械方面设计（包含传动部分、实施部分、驱动部分）和简单三维实体造型工作。本设计为四自由度圆柱坐标型工业机器人，其工作方向为两个直线方向、一个旋转方向和一个气爪运动。机器人机械结构关键包含由三个电磁阀控制气缸来实现机器人上升下降运动及夹紧工件动作，一个步进电机控制机器人正反转。 在控制器作用下，搬运机器人实施将工件从一条流水线拿到另一条流水线这一简单动作。设计搬运机器人利用于自动化生产线，实现自动化生产，减轻产业工人大量反复性劳动，同时又能够提升劳动生产率，本文是对整个设计工作较全方面介绍和总结。 关键词：搬运机器人，强度计算，结构设计 指导老师署名： Structure designing of 4-DOF handling robot Student name: Class: Supervisor: Abstract：In the modern large-scale manufacturing industry, enterprises to improve productivity, and, guarantee product quality, as an important part of the automation production line, industrial robots are gradually approved and adopted by enterprises. Industrial robot technology standards and application level, to a certain extent, reflect a level of national industrial automation. Currently, Industrial robot mainly tasked with welding, spraying, handling and stacking, repetitive and intensity of significant work. This paper studies the current situation of the development of mechanical hand, by studying the working principle of the robot, familiar with handling robot locomotion mechanism . On this basis, identified 4-DOF of handling robot s basic system architecture , simple strength calculation was made on handling robot structure , finish handling robot mechanical design ( including transmission part, operative, driving part ) and simple 3D solid modeling work.This scheme introduced a cylindrical robot for four degree of freedom. It is composed of two linear axes ，one rotary axis and a pneumatic claw movement.The manipulator mechanical structure includes three solenoid valves controlled by air cylinder to achieve the increased decline in sports and workpiece clamping action, a stepper motor contr