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1、recovery and treatment in a timely manner. At the time of construction, should be taken to prevent dust and mud spill leak, measures such as the sewage outflow, vehicles stained with dirt, construction waste someone to clean up, to avoid polluting the environment 3.2 night arrangements of noise emit

2、ted by construction equipment, mixer noise emitted by machinery and equipment next to foam for noise control to prevent noise pollution of the surrounding environment. 3.3 construction managers and construction personnel, special operations personnel listing jobs, site operators, leaders, managers,

3、operators, wearing a helmet is divided into red, blue and yellow species. 3.4 site construction and companys comprehensive evaluation, check scores published examination results issued on a regular basis. 4, construction site environmental protection measures in order to protect and improve the livi

4、ng environment and the ecological environment, prevent construction and operation of pollution and nuisance, safeguard the health of residents and workers near the construction area, promoting the development of Socialist construction, environmental protection must be the construction site. 4.1 dail

5、y by the Deputy Project Manager, construction, safety officer for the afternoon the second comprehensive self test, where a violation of the provisions of the environment protection in construction site must be promptly identified and corrective action, made by construction workers on the day of the

6、 construction of the log on post records. 4.2 monthly by the Department of projects to be checked, according to the environmental protection in construction site inspection, evaluation criteria for inspection score, fill in the score sheet as the basis for site evaluation of safe production and civi

7、lized. During the inspection, do not meet the environmental requirements of the "three" (people, time, and measures) modification, implementation and review review the duties specified. 4.3 4.3.1 pollution prevention measures in construction site clean up rubbish, used motor vehicle shipments, no fr

8、ee air dispersion caused by dust. Construction of refuse to be cleaned up to a designated location, no feel free to pile up, cleaned up and when adequate water to reduce dust. 4.3.2 earthmoving construction site entrances and set the car wash, and arrange for someone to clean up tire, not wheel dirt

9、 into other roads, affecting the city clean. 4.3.3 construction road construction site before construction ready plans and setting, make full use of red line layout, arrangement of temporary construction road, grass-roots energising, pavement paving the way Coke button, fine aggregate, and water

10、at all times, reduce road dust. 4.3.4 construction when the protection of urban public facilities have been built, reasonable arrangements within the lot of construction organization, construction on the normal life of the residents and to minimize the impact of leisure. 4.3.5 easy cloud of fine mat

11、erialWe will continue to improve the companys internal control system, and steady improvement in ability to manage and control, optimize business processes, to ensure smooth processes, responsibilities in place; to further strengthen internal controls, play a control post independent oversight role

12、of evaluation complying with third-party responsibility; to actively make use of internal audit tools detect potential management, streamline, standardize related transactions, strengthening operations in accordance with law. Deepening the information management to ensure full communication "zero re

13、sistance". 　　To constantly perfect ERP, and BFS++, and PI, and MIS, and SCM, information system based construction, full integration information system, achieved information resources shared; to expand Portal system application of breadth and depth, play information system on enterprise of Assistan

14、t role; to perfect daily run maintenance operation of records, promote problem reasons analysis and system handover; to strengthening BFS++, and ERP, and SCM, technology application of training, improve employees application information system of capacity and level. Humanistic care to ensure "zero."

15、 　　To strengthening Humanities care, continues to foster company wind clear, and gas are, and heart Shun of culture atmosphere; strengthening love helped trapped, care difficult employees; carried out style activities, rich employees life; strengthening health and labour protection, organization ca

16、reer health medical, control career against; continues to implementation psychological warning prevention system, training employees health of character, and stable of mood and enterprising of attitude, created friendly fraternity of Humanities environment. To strengthen risk management, ensure that

17、 the business of "zero risk". To strengthened business plans management, will business business plans cover to all level, ensure the business can control in control; to close concern financial, and coal electric linkage, and energy-saving scheduling, national policy trends, strengthening track, acti

18、ve should; to implementation State-owned assets method, further specification business financial management; to perfect risk tube control system, achieved risk recognition, and measure, and assessment, and report, and control feedback of closed ring management, improve risk prevention capacity. 　　T

19、o further standardize trading, and strive to achieve "according to law, standardize and fair." Innovation of performance management, to ensure that potential employees "zero fly". To strengthen performance management, process control, enhance employee evaluation and levels of effective communication

20、 to improve performance management. To further quantify and refine employee standards ... Work, full play party, and branch, and members in "five type Enterprise" construction in the of core role, and fighting fortress role and pioneer model role; to continues to strengthening "four good" leadership

21、 construction, full play levels cadres in enterprise development in the 本科畢業(yè)設計(論文) 題目：焊接機械手的結構設計 系 別： 機電信息系 專 業(yè)：機械設計制造及其自動化 班 級： 學 生： 學 號： 指導教師： 　　　　　　　　　　　　　 2013年5月 　　　　　　　　　　　　　 recovery a

22、nd treatment in a timely manner. At the time of construction, should be taken to prevent dust and mud spill leak, measures such as the sewage outflow, vehicles stained with dirt, construction waste someone to clean up, to avoid polluting the environment 3.2 night arrangements of noise emitted by con

23、struction equipment, mixer noise emitted by machinery and equipment next to foam for noise control to prevent noise pollution of the surrounding environment. 3.3 construction managers and construction personnel, special operations personnel listing jobs, site operators, leaders, managers, operators,

24、 wearing a helmet is divided into red, blue and yellow species. 3.4 site construction and companys comprehensive evaluation, check scores published examination results issued on a regular basis. 4, construction site environmental protection measures in order to protect and improve the living environ

25、ment and the ecological environment, prevent construction and operation of pollution and nuisance, safeguard the health of residents and workers near the construction area, promoting the development of Socialist construction, environmental protection must be the construction site. 4.1 daily by the D

26、eputy Project Manager, construction, safety officer for the afternoon the second comprehensive self test, where a violation of the provisions of the environment protection in construction site must be promptly identified and corrective action, made by construction workers on the day of the construct

27、ion of the log on post records. 4.2 monthly by the Department of projects to be checked, according to the environmental protection in construction site inspection, evaluation criteria for inspection score, fill in the score sheet as the basis for site evaluation of safe production and civilized. Dur

28、ing the inspection, do not meet the environmental requirements of the "three" (people, time, and measures) modification, implementation and review review the duties specified. 4.3 4.3.1 pollution prevention measures in construction site clean up rubbish, used motor vehicle shipments, no free air dis

29、persion caused by dust. Construction of refuse to be cleaned up to a designated location, no feel free to pile up, cleaned up and when adequate water to reduce dust. 4.3.2 earthmoving construction site entrances and set the car wash, and arrange for someone to clean up tire, not wheel dirt into othe

30、r roads, affecting the city clean. 4.3.3 construction road construction site before construction ready plans and setting, make full use of red line layout, arrangement of temporary construction road, grass-roots energising, pavement paving the way Coke button, fine aggregate, and water at all tim

31、es, reduce road dust. 4.3.4 construction when the protection of urban public facilities have been built, reasonable arrangements within the lot of construction organization, construction on the normal life of the residents and to minimize the impact of leisure. 4.3.5 easy cloud of fine materialof ba

32、ckbone backbone role; to full strengthening members youth work, full play youth employees in company development in the of force role; to improve independent Commission against corruption work level, strengthening on enterprise business key link of effectiveness monitored. , And maintain stability.

33、To further strengthen publicity and education, improve the overall legal system. We must strengthen safety management, establish and improve the education, supervision, and evaluation as one of the traffic safety management mechanism. 　　To conscientiously sum up the Olympic security controls, promo

34、ting integrated management to a higher level, higher standards, a higher level of development. Employees, today is lunar calendar on December 24, the ox Bell is about to ring, at this time of year, we clearly feel the pulse of the XX power generation company to flourish, to more clearly hear XX powe

35、r generation companies mature and symmetry breathing. Recalling past one another across a railing, we are enthusiastic and full of confidence. Future development opportunities, we more exciting fight more spirited. 　　Employees, let us together across 2013 full of challenges and opportunities, to cr

36、eate a green, low-cost operation, full of humane care of a world-class power generation company and work hard! The occasion of the Spring Festival, my sincere wish that you and the families of the staff in the new year, good health, happy, happy 焊接機械手的結構設計 摘　　要 本設計為焊接機械手的結構設計，主要研究內容：腰部回轉機構的設計；大

37、、小臂和腕部回轉的結構設計。 本設計由整體布局入手，參考現有關節(jié)型機械臂的相關設計，初步確定腰部的轉動慣量，從而確定電機的選型，安裝等相關設計。在機械臂的靈活和精度的前提下完成總體結構的設計，然后根據總體結構，從而確定本設計的機械臂各個主要零部件的設計。 在主要零部件的設計中，主要包括腰部殼體的設計、軸的結構設計、軸承的選擇、電機的設計計算、大小臂的結構和固定等。 本設計整體在現有關節(jié)型機械臂的結構上做了修改，使得它能夠更好的滿足本設計的設計要求。本設計結構簡單、重量輕、外形尺寸小、設備費用低、運轉安全、操作方便、便于維修和管理。 關鍵詞：機械手；諧波減速器；結構設計

38、 I Structure design of robot arm Abstract The design for the design of welding structure of the manipulator, the main research contents: the design of the waist turning mechanism； structure design of large, small arm and wrist rotation. This design by the overall layout with reference to the

39、 relevant design, the existing joint type manipulator, preliminary determine the moment of inertia of the waist, so as to determine the motor selection, installation and other related design. Complete the design of the overall structure of the flexible manipulator based on precision and the next, an

40、d then based on the overall structure, design of mechanical arm to determine the design of all the major components of the. The design of the main components, including the housing design, structural design of shaft, bearing selection, design and calculation of the size of motor, arm structure and

41、fixed. The design of the whole made changes in the existing joint type manipulator structure, so that it can better meet the design requirement of this design. The design has simple structure, light weight, small size, low cost of equipment, operation safety, convenient operation, easy to repair an

42、d management. KeyWords：robot arm；harmonic drive；structure design 目 錄 1 緒論 1 1.1 機器人簡介 1 1.1.1 機器人的發(fā)展及應用 2 1.1.2 點焊機器人介紹及其研究意義 4 1.1.3 機器人的組成 6 1.2 機械手的組成 8 1.3 本文主要研究工作 11 2 機械手的總體結構 12 2.1 機械手總體結構的類型 12 2.2 設計具體采用方案 13 3 機械手腰部機座 15 3.1 機械手腰部機座結構的設計 15 3.2 機械手腰部機座設計的具體采用方案 1

43、5 3.3 電動機的選擇 16 3.4 減速器的選擇 17 3.5 鍵的選擇 18 4 機械手手臂的結構設計 20 4.1 設計具體采用方案 21 4.2 大臂電動機的選擇 21 4.3 大臂減速器的相關計算 22 4.4 小臂電動機的選擇 23 4.5 小臂減速器的相關計算 24 5 機械手腕部的結構方案設計 27 5.1 腕部電動機的選擇 27 5.2 腕部減速器的選擇 27 6 軸承的選用與校核 29 7 結論 39 參考文獻 40 致謝 41 畢業(yè)設計（論文）知識產權聲明 42 畢業(yè)設計（論文）獨創(chuàng)性聲明 43 13 2 機械手的總體

44、設計 圖紙和說明書聯系QQ2576636538 2 機械手的總體結構 2.1 機械手總體結構的類型 工業(yè)機器人的結構形式主要有直角坐標結構，圓柱坐標結構，球坐標結構，關節(jié)型結構四種。各結構形式及其相應的特點，分別介紹如下: a. 直角坐標機器人結構 直角坐標機器人的空間運動是用三個相互垂直的直線運動來實現的。為了實現一定的運動空間，直角坐標機器人的結構尺寸要比其他類型的機器人的結構尺寸大得多。 直角坐標機器人的工作空間為一空間長方體。直角坐標機器人主要用于裝配作業(yè)及搬運作業(yè)，直角坐標機器人有懸臂式，龍門式，天車式三種結構。 b. 圓柱坐標機器人結構 圓柱坐標機

45、器人的空間運動是用一個回轉運動及兩個直線運動來實現的。這種機器人構造比較簡單，精度還可以，常用于搬運作業(yè)。其工作空間是一個圓柱狀的空間。 c. 球坐標機器人結構 球坐標機器人的空間運動是由兩個回轉運動和一個直線運動來實現的。這種機器人結構簡單、成本較低，但精度不很高。主要應用于搬運作業(yè)。其工作空間是一個類球形的空間。 d. 關節(jié)型機器人結構 關節(jié)型機器人的空間運動是由三個回轉運動實現的。關節(jié)型機器人動作靈活，結構緊湊，占地面積小。相對機器人本體尺寸，其工作空間比較大。此種機器人在工業(yè)中應用十分廣泛，如焊接、噴漆、搬運、裝配等作業(yè)，都廣泛采用這種類型的機器人[19]。

46、本題目規(guī)格參數: 腰部回轉最大角度280度； 擺動最大角度120度； 工作范圍范圍0-450mm； 本機械手的主要動作是： 首先腰部回轉機械臂和焊點處于同一平面；接著大臂回轉，調整焊槍和焊點的距離；然后小臂回轉，使焊槍接觸焊點；最后腕部回轉，使焊槍和焊點垂直，達到焊接的目的。 2.2 設計具體采用方案 具體到本設計，因為焊槍質量約0.5KG，且考慮到焊接機械手的加工精度，應盡量簡化結構，以減小成本、提高可靠度。該機械手在工作中需要四種運動,腰部回轉；大臂回轉；小臂回轉；腕部回轉。綜合考慮，機械手自由度數目取為四。因此選擇關節(jié)型機械臂。 具體到本設計，要求工作區(qū)間0-4

47、50mm，擴大到0-60mm，為擴大1/3倍。因為A2+b2≥2ab。所以當c一定時，a=b機械臂為最短。6002=2a2。A≈424.3，又因為小臂比大臂更靈活，活動更頻繁，所以初始取a（大臂）=500mm；b（小臂）=400mm；c（腕部）=100mm。 整體布局如圖： 圖2.1 整體尺寸設計圖 本設計的三維建模基于solidworks。首先進行腰部回轉機構的結構設計，再進行大臂擺動機構的設計，然后進行小臂擺動機構的設計，最后進行腕部的設計。在所有設計完成之后，整體的效果如下圖所示： 圖2.2 設計完成整體圖 3 機械手腰部機座 3 機械手腰部機座 3

48、.1 機械手腰部機座結構的設計 進行了機械手的總體設計后，就要針對機械手的腰部、大臂、小臂、腕部等各個部分進行詳細設計。 機械手腰座結構的設計要求： 工業(yè)機器人腰座，就是圓柱坐標機器人，球坐標機器人及關節(jié)型機器人的回轉基座。它是機器人的第一個回轉關節(jié)，機器人的運動部分全部安裝在腰座上，它承受了機器人的全部重量。在設計機器人腰座結構時，要注意以下設計原則： a. 腰座要有足夠大的安裝基面，以保證在工作時整體安裝的穩(wěn)定性。 b. 腰座要承受機器人全部的重量和載荷，因此，機器人的基座和腰部軸及軸承的結構要有足夠大的強度和剛度，以保證其承載能力。 c. 機器人的腰座是機器人的第

49、一個回轉關節(jié)，它對機器人末端的運動精度影響最大，在設計時要特別注意腰部軸系及傳動鏈的精度與剛度的保證。 d. 腰部的回轉運動要有相應的驅動裝置，它包括驅動器（電動、液壓及氣動）及減速器。驅動裝置一般都帶有速度與位置傳感器，以及制動器。 e. 腰部結構要便于安裝、調整。腰部與機器人手臂的聯結要有可靠的定位基準面，以保證各關節(jié)的相互位置精度。要設有調整機構，用來調整腰部軸承間隙及減速器的傳動間隙。 f. 為了減輕機器人運動部分的慣量，提高機器人的控制精度，一般腰部回轉運動部分的殼體是由比重較小的鋁合金材料制成，而不運動的基座是用鑄鐵或鑄鋼材料制成[20]。 3.2 機械手腰部機

50、座設計的具體采用方案 腰座回轉的驅動形式要么是電機通過減速機構來實現，要么是通過擺動液壓缸或氣壓缸來實現，目前的趨勢是用前者?？紤]到腰座是機器人的第一個回 轉關節(jié)，對機械手的最終精度影響大，故采用電機通過減速機構驅動來實現腰部的回轉運動。 3.3 電動機的選擇 設兩臂及手腕繞各自重心軸的轉動慣量分別為JG1、JG2、JG3，JG4根據平行軸定理可得繞軸0的轉動慣量為： （3.1）（3.2） m3=0.5kg；m2=5kg；m1=7kg；m0=7kg； 設輸出軸速度為所需時間；

51、 機座 （3.3） 若考慮繞機器人手臂的各部分重心軸的轉動慣量及摩擦力矩，則旋轉開始時的啟動轉矩可假定為15N.m。 電機功率可按下式估算 （3.4） 其中：Pm為電動機功率W； MLP為負載力矩； 為負載轉速； 為傳動裝置效率，初定0.9； 系數為經驗數據，取2.5； （3.5） 博美德PL80-100/SM80-013-30LFB； 參數如下： 表3-1 電機參數 額定功率 額定轉矩 額定轉速

52、 轉子慣量 400w 1.3N.m 3000rpm 0.89X10-4kg.m2 電機結構外形如圖： 圖3.1 電機結構外形圖 3.4 減速器的選擇 因為整體最高轉速要求30r/min。伺服電機在額定轉速之下可以調節(jié)需要轉速并正常工作。所以以最高轉速計算傳動比。 （3.6） 減速器選用配套的 博美德PL80-100型，減速比100。 減速器如圖所示： 圖3.2 減速機安裝圖 參數如下： 額定輸出扭矩：52～110Nm 轉動慣量：0.39～0.77K

53、gcm2/ 故障停止扭矩：104～220Nm 滿載效率：90% 額定輸入速度：4000min-1/ 工作溫度：-25～+90 最大輸入速度：6000min-1/ 潤滑方式：合成脂潤滑（長效潤滑） 安裝方式：任意 防護等級：IP65 平均壽命：20000h 法蘭精度:DIN 42955-R 輸出軸鍵標準:圓頭普通平鍵（A型）GB1096-79。 3.5 鍵的選擇 鍵已標準化，設計時需要先根據工作要求和軸徑上鍵的類型以及尺寸

54、來選擇鍵，然后再進行強度校核，鍵的材料按標準規(guī)定采用抗拉強度的鋼，常用45鋼。 本設計中的鍵均為減速器自帶的鍵，即普通圓頭A型。 驗證電機軸上的轉動慣量 （3.7） 電機的轉子慣量為 所以選取合適 （3.8） 在確定了轉動慣量之后，就要進行軸的具體尺寸確定： 實心軸的材料均選用45號鋼，查表知軸的許用扭剪應力[] = 30MPa，由許用應力確定的系數為C=120。 此軸傳遞扭矩T1=15N.m n1=30r/min P1=400w （3.9） 因此與電機相連的軸直徑必須大于28.5mm。 畢業(yè)設計（論文）獨創(chuàng)性聲明