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摘 要
在当今大规模制造业中，企业为提高生产效率，保障产品质量，工业机器人作为自动化生产线上的重要成员，逐渐被企业所认同并采用。工业机器人的技术水平和应用程度在一定程度上反映了一个国家工业自动化的水平。目前，工业机器人主要承担着焊接、喷涂、搬运以及堆垛等重复性并且劳动强度极大的工作。
本课题主要对搬运机器人的总体结构展开讨论。通过详细了解搬运机器人在工业上的应用现状，提出了具体的搬运机器人设计要求，并根据搬运机器人各部分的设计原则，进行了系统总体方案设计以及包括：机器人的手部、腕部、臂部、腰部在内的机械结构设计。此搬运机器人的驱动源来自液压系统、电机，执行元件包括：柱塞式液压缸、摆动液压缸、伸缩式液压缸等。通过液压缸的运动来实现搬运机器人的各关节运动，进而实现搬运机器人的实际作业。
关键词：搬运机器人；液压系统；机械结构设计；操作
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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.
The subject of the main part of the handling of their machinery discussions, and on the original mechanical structure proposed for the new improved method, which makes the handling robot is more applicable to the present industrial working environment. Through a detailed understanding of the robot in the industrial application, to propose specific handling robot design requirements, and according to the robot design principles of various parts, for the system as well as including: the robot's hand, wrist, arm, waist, the design of mechanical structures. The transfer robot driven by the source from the hydraulic system、electrical machinery, and the implementation of components including: plunger hydraulic cylinders, hydraulic cylinders, swing, telescopic hydraulic cylinders, etc. Through the hydraulic cylinder movements to implement the joint transport robot motion, And realize the operational handling robot.
Keywords：Transfer robot；Hydraulic System；Mechanical Design；Operating
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目 录
摘 要.......................................... I Abstract ........................................... II 第1章 总 论 ....................................- 1 -
1.1 概述 ....................................................................................................................................... - 1 - 1.2 工业机器人的历史、现状及应用 ....................................................................................... - 2 - 1.3 机器人发展趋势 ................................................................................................................... - 4 - 1.4 本文主要研究内容 ............................................................................................................... - 4 - 1.5 本章小结 ............................................................................................................................... - 4 -
第2章 搬运机器人的总体方案 ......................- 5 -
2.1 总体设计的思路 ................................................................................................................... - 5 - 2.2 自由度和坐标系的选择 ....................................................................................................... - 6 - 2.3 搬运机器人的组成 ............................................................................................................... - 7 -
2.3.1 执行机构 ................................................................................................................... - 7 - 2.3.2 驱动机构 ................................................................................................................... - 9 - 2.3.3 控制系统分类 ........................................................................................................... - 9 - 2.4 搬运机器人的技术参数 ..................................................................................................... - 10 - 2.5 本章小结 ............................................................................................................................. - 10 -
第3章 手部夹持器的结构设计及计算 ............... - 11 -
3.1 手部夹持器 ......................................................................................................................... - 11 - 3.2 手部设计基本要求 ............................................................................................................. - 12 - 3.3 选择手抓的类型及夹紧装置 ............................................................................................. - 12 - 3.4 手爪的结构设计 ................................................................................................................. - 13 -
3.4.1 手爪的力学分析 ..................................................................................................... - 13 - 3.4.2 夹紧力和驱动力的计算 ......................................................................................... - 14 -
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