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5自由度焊接機器人總體及大臂與腰部設計
摘要
據(jù)不完全統(tǒng)計，全世界在役的工業(yè)機器人中大約有將近一半的工業(yè)機器人用于各種形式的焊接加工領域，焊接機器人應用中最普遍的主要有兩種方式，即點焊和電弧焊。我們所說的焊接機器人其實就是在焊接生產(chǎn)領域代替焊工從事焊接任務的工業(yè)機器人。這些焊接機器人中有的是為某種焊接方式專門設計的，而大多數(shù)的焊接機器人其實就是通用的工業(yè)機器人裝上某種焊接工具而構成的。在多任務環(huán)境中，一臺機器人甚至可以完成包括焊接在內(nèi)的抓物、搬運、安裝、焊接、卸料等多種任務，因此，從某種意義上來說，工業(yè)機器人的發(fā)展歷史就是焊接機器人的發(fā)展歷史。
眾所周知，焊接加工一方面要求焊工要有熟練的操作技能、豐富的實踐經(jīng)驗、穩(wěn)定的焊接水平；另一方面，焊接又是一種勞動條件差、煙塵多、熱輻射大、危險性高的工作。工業(yè)機器人的出現(xiàn)使人們自然而然首先想到用它代替人的手工焊接，減輕焊工的勞動強度，同時也可以保證焊接質(zhì)量和提高焊接效率。
本次我所設計的機器人為五自由度弧焊機器人。本說明書對本次設計的主要考慮內(nèi)容進行了敘述和講解，包括機器人的總體設計以及傳動系統(tǒng)的構成與設計，電動機的選擇，圓錐齒輪的設計與校核，諧波減速器的原理以及選擇，腕部轉動軸的校核，齒形帶規(guī)格的選擇以及滾動軸承的選擇與校核等。
由于設計經(jīng)驗不足以及理論知識的匱乏，本次設計肯定存在許多不足之處，望答辯老師諒解并不吝賜教。
關鍵詞 焊接機器人；齒形帶傳動；諧波減速器；五自由度
design 5 degree-of-freedom welding robot overall and big arm and waist
ABSTRCT
According to incomplete statistics, nearly half of the world's industrial robots in service are used for welding. The most common application of welding robot are in two main ways, spot welding and arc welding. The welding robot we are talking about is actually industrial robots which are doing the work in the welding tasks instead of welding production welder. Some of this welding robot is specially designed for welding while most of them are actually a common industrial robot fitted with a welding tool. In multi-task environment, a robot can even complete many kinds of work including the grasp of welding, handling, installation, welding, unloading and other tasks,. Therefore, in a sense, the history of the development of industrial robots is the history of the development of welding robot.
It is well known that the welding processing on one hand requires on skilled operational skills, rich practical experience and stable level of welding; on the other hand, welding is a work with poor working conditions, dust, and heat radiation and high-risk. The emergence of industrial robots first makes people naturally think of using it to replace the manual welding to reduce labor intensity. But also it ensures the welding quality and enhances the efficiency of welding.
The robot I designed is a DOF arc welding robot. The design statement mainly include design of robot's drive system and the its composition, the choice of motor, design of bevel gear and verification, the principle of harmonic reducer and its choice, wrist Check the Department of rotational axis, the choice of rolling bearings and its checking and so on.
KEY WORDS welding robot; profile belt transmission; harmonic reducer; 5-DOF
目錄
中文摘要 ……………………………………………………………………Ⅱ
英文摘要 ……………………………………………………………………Ⅲ
目錄 …………………………………………………………………………Ⅳ
前言 ……………………………………………………………………………1
1 緒論 ……………………………………………………………………3
2 畢業(yè)設計基本思路 …………………………………………………………4
2.1總體所涉及思路及內(nèi)容 ……………………………………………5
2.2設計傳動方案 ………………………………………………………5
3 焊接機器人腰部與大部設計 ………………………………………………7
3.1 腰部結構設計 ………………………………………………………7
3.1.1 電動機的選擇 …………………………………………………7
3.1.2 諧波減速器介紹及選擇 ……………………………………8
3.1.3 軸的設計與校核 ……………………………………………10
3.1.4 軸承的設計計算與核 …………………………………………11
3.1.5 齒輪設計計算與校核 …………………………………………12
3.2 大臂結構設計 ………………………………………………………15
3.2.1 電動機的選擇 …………………………………………………15
3.2.2 諧波減速器的選擇 ……………………………………………15
3.2.3 軸的設計與校核 ………………………………………………16
4總 ……………………………………………………………………………18
參考文獻 ………………………………………………………………………19
致謝 ……………………………………………………………………………20
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