自动喷漆机器人机身系统设计
时间:2018-07-06 19:55 来源:毕业论文 作者:毕业论文 点击:次
| 摘要喷漆机器人是机器人技术与表面喷漆工艺相结合的产物，是工业机器人产品中的一个特殊品种。其已经被广泛运用于汽车、仪表、电器、家具等表面处理加工部门。随着工业自动化领域科技水平的不断提高，喷漆机器人的应用范围将会越来越广。 本文内容包括一种喷漆机器人的机身系统的设计计算过程。本设计方案机器人决定采用五个自由度的关节型坐标结构，以步进电机驱动，采用弹簧平衡方式对大臂和小臂进行平衡。 本次设计重点为机身系统，主要负责大臂和小臂的支撑，并能够进行回转运动。机身采用二级齿轮减速机构，通过步进电机进行驱动，电机选用台湾拓达科技有限公司的TDA375-S型号的步进电机。机身机座分为左右两部分，采用整体铸造形式，材料为灰铸铁HT200。减速机构由一个轴、两个齿轮轴和两个齿轮组成，材料为40Cr。齿轮设计通过接触疲劳强度条件验算和齿根弯曲疲劳强度条件验算，轴按照弯扭合成条件进行校核，并对主要的轴进行有限元分析。25368 关键词 喷漆机器人 机身系统 步进电机 齿轮减速器 有限元分析 毕业设计说明书（毕业论文）外文摘要 Title Design of a Spray Painting Robot Design of the Body System Abstract Spray painting robot is a combining product of robot technology and surface painting process. It is a special varieties of products in industrial robot. It has been widely used in the surface treatment and processing departments of automobiles, instruments, appliances, furniture, etc. With the development of technology in the field of industrial automation, the application of spray paint robot will become increasingly wider. The content of this paper includes a design and calculation of the fuselage system of spray paint robot.This robot is composed of five degrees of freedom articulated coordinate structure, the step motor driver, the spring balance for the balance of the large arm and the small arm. The design focuses on the fuselage system, mainly responsible for the support of large arms and small arms, and capable of rotary motion.The fuselage uses the secondary gear reducer, the stepper motor drive use TDA375-S types of step motor from Taiwan tuoda Technology Co., Ltd. Fuselage frame is pided into left and right two parts, the whole cast form, material for gray cast iron HT200. A speed reducing mechanism composed of a shaft, two gear shaft and two gears, which made of 40Cr. Gear design through the contact fatigue strength condition checking and root bending fatigue strength checking, shaft according to the synthetic conditions of bending and torsion checking and conducting finite element analysis of main axis. Keywords Spray Painting Robot Body System Step Motor Gear reducer Finite element analysis 目 次 1 引言1 1.1 课题研究的背景和意义1 1.2 喷漆机器人概述1 1.3 国内外喷漆机器人研究概况1 1.4 自动喷漆机器人的发展趋势2 1.5 本文研究的主要内容4 2 喷漆机器人总体方案设计5 2.1 喷漆机器人的基本参数确定5 2.1.1坐标形式的确定5 2.1.2 自由度的确定6 2.1.3 运动范围的确定7 2.1.4 有效载荷的确定7 2.1.5 驱动方式的确定7 2.1.6 传动方式的选择8 2.2 喷涂机器人材料的选择8 2.3 机构整体设计9 2.4 喷涂机器人平衡系统设计10 2.5 机身回转关节设计12 3 喷漆机器人机身系统设计13 3.1 臂长的设计计算13 3.2 机身壳体设计14 3.3 机身回转驱动负载计算和机身齿轮减速器传动比确定15 (责任编辑：qin) |