焊接機(jī)械手的結(jié)構(gòu)設(shè)計(jì)論文[帶圖紙].doc

本科畢業(yè)設(shè)計(jì)(論文)題目：焊接機(jī)械手的結(jié)構(gòu)設(shè)計(jì)系別：機(jī)電信息系專業(yè)：機(jī)械設(shè)計(jì)制造及其自動化班級：學(xué)生：學(xué)號：指導(dǎo)教師：2013年5月I焊接機(jī)械手的結(jié)構(gòu)設(shè)計(jì)摘要本設(shè)計(jì)為焊接機(jī)械手的結(jié)構(gòu)設(shè)計(jì)，主要研究內(nèi)容：腰部回轉(zhuǎn)機(jī)構(gòu)的設(shè)計(jì)；大、小臂和腕部回轉(zhuǎn)的結(jié)構(gòu)設(shè)計(jì)。本設(shè)計(jì)由整體布局入手，參考現(xiàn)有關(guān)節(jié)型機(jī)械臂的相關(guān)設(shè)計(jì)，初步確定腰部的轉(zhuǎn)動慣量，從而確定電機(jī)的選型，安裝等相關(guān)設(shè)計(jì)。在機(jī)械臂的靈活和精度的前提下完成總體結(jié)構(gòu)的設(shè)計(jì)，然后根據(jù)總體結(jié)構(gòu)，從而確定本設(shè)計(jì)的機(jī)械臂各個主要零部件的設(shè)計(jì)。在主要零部件的設(shè)計(jì)中，主要包括腰部殼體的設(shè)計(jì)、軸的結(jié)構(gòu)設(shè)計(jì)、軸承的選擇、電機(jī)的設(shè)計(jì)計(jì)算、大小臂的結(jié)構(gòu)和固定等。本設(shè)計(jì)整體在現(xiàn)有關(guān)節(jié)型機(jī)械臂的結(jié)構(gòu)上做了修改，使得它能夠更好的滿足本設(shè)計(jì)的設(shè)計(jì)要求。本設(shè)計(jì)結(jié)構(gòu)簡單、重量輕、外形尺寸小、設(shè)備費(fèi)用低、運(yùn)轉(zhuǎn)安全、操作方便、便于維修和管理。關(guān)鍵詞：機(jī)械手；諧波減速器；結(jié)構(gòu)設(shè)計(jì)IIStructuredesignofrobotarmAbstractThedesignforthedesignofweldingstructureofthemanipulator,themainresearchcontents:thedesignofthewaistturningmechanism；structuredesignoflarge,smallarmandwristrotation.Thisdesignbytheoveralllayoutwithreferencetotherelevantdesign,theexistingjointtypemanipulator,preliminarydeterminethemomentofinertiaofthewaist,soastodeterminethemotorselection,installationandotherrelateddesign.Completethedesignoftheoverallstructureoftheflexiblemanipulatorbasedonprecisionandthenext,andthenbasedontheoverallstructure,designofmechanicalarmtodeterminethedesignofallthemajorcomponentsofthe.Thedesignofthemaincomponents,includingthehousingdesign,structuraldesignofshaft,bearingselection,designandcalculationofthesizeofmotor,armstructureandfixed.Thedesignofthewholemadechangesintheexistingjointtypemanipulatorstructure,sothatitcanbettermeetthedesignrequirementofthisdesign.Thedesignhassimplestructure,lightweight,smallsize,lowcostofequipment,operationsafety,convenientoperation,easytorepairandmanagement.KeyWords：robotarm；harmonicdrive；structuredesignIII目錄1緒論.11.1機(jī)器人簡介.11.1.1機(jī)器人的發(fā)展及應(yīng)用.21.1.2點(diǎn)焊機(jī)器人介紹及其研究意義.41.1.3機(jī)器人的組成.61.2機(jī)械手的組成.81.3本文主要研究工作.112機(jī)械手的總體結(jié)構(gòu).122.1機(jī)械手總體結(jié)構(gòu)的類型.122.2設(shè)計(jì)具體采用方案.133機(jī)械手腰部機(jī)座.153.1機(jī)械手腰部機(jī)座結(jié)構(gòu)的設(shè)計(jì).153.2機(jī)械手腰部機(jī)座設(shè)計(jì)的具體采用方案.153.3電動機(jī)的選擇.163.4減速器的選擇.173.5鍵的選擇.184機(jī)械手手臂的結(jié)構(gòu)設(shè)計(jì).204.1設(shè)計(jì)具體采用方案.214.2大臂電動機(jī)的選擇.214.3大臂減速器的相關(guān)計(jì)算.224.4小臂電動機(jī)的選擇.234.5小臂減速器的相關(guān)計(jì)算.