伺服电机驱动的单轨道多关节型机器人设计
时间:2017-05-26 19:42 来源:毕业论文 作者:毕业论文 点击:次
| 摘要：随着生产力不断地发展，生产日益的现代化，机器人越来越多地出现在现代的重要生产领域中，并呈不断的发展趋势。尤其是在人工生产不能满足生产质量和效率的行业中，应用地极其广泛。其中，焊接机器人的应用，使焊接领域发生了巨大的变化。由于焊接工序的复杂性，焊接质量的高要求，人工很难高效地完成这些任务，而且焊接过程极其枯燥，工作环境也有一定的危险性。因此，采用焊接机器人来代替大部分的焊接任务就具有了重要意义。9326 本文主要介绍了一种伺服电机驱动的单轨道多关节型机器人，详细介绍了它的机械结构、驱动方式、控制方式和传动机构。该机器人具有五个自由度，每个关节都采用的是转动副连接，并由伺服电机驱动，控制灵活，工作空间较大，能实现一般的工作任务。机械臂手腕采用了一种差速手腕结构，能实现自由的俯仰和旋转，在进行焊接操作时，十分灵活方便。 关键词：伺服电机、单轨道、多关节、焊接 Monorail articulated robot driven by servo motor Abstract: With the development of productive forces continuously, the modernization of production increasingly, robots are increasingly appeared in the modern the important production areas, and the development trend of continuously. Especially in the artificial production can't meet the production quality and efficiency of the industry, is widely applied to. Among them, the application of welding robot, makes great changes have taken place in welding field. Because of the complexity of the welding process, welding quality of high demand, the manual is hard to accomplish these tasks efficiently, and welding process is very boring, work environment also has certain risk. Therefore, adopting the welding robot to replace most of the welding task has the important meaning. This paper mainly introduces a kind of single track multi-joint robot servo motor driver, introduces in detail its mechanical structure and drive mode and control mode and the transmission mechanism. The robot with five degrees of freedom, each joint is of rotation connection, and driven by servo motor, control flexibility, large work space, can achieve the task. Mechanical arm wrist wrist structure adopts a differentia speed, can realize freedom pitch and rotate, for welding procedures, very flexible and convenient. Keywords: Servo motor, single track, multiple joints, welding 目录 摘要… Abstract… 目录… 1.绪论 1 2 机器人方案的确定4 2.1 设计要求4 2.2 机械臂方案的确定…4 2.3总体结构设计…8 3 传动机构的设10 3.1机械手臂重量的初步确定10 3.2 各手臂长度的初步确定…10 3.3传动机构的选择10 3.4各关节传动比的初步确定11 3.5电机的选择…11 3.5.1 腕部电机…11 3.5.2小臂关节电机12 3.5.3大臂关节电机12 3.5.4腰转关节电机12 3.5.5轨道电机13 3.6传动机构的设计13 3.6.1大臂减速箱的设计13 3.6.2小臂蜗轮蜗杆的设计…16 3.6.3带传动的设计17 3.7手腕方案的设计18 3.8直线导轨的选择21 3.8.1常见导轨的选择…21 3.8.2导轨的确定…22 3.9传动件的校核…23 3.9.1减速器齿轮的校核23 3.9.2蜗轮蜗杆的校核…24 3.9.3滚动轴承的校核…24 4 关节伺服控制系统的设计…26 4.1 PLC控制系统…26 4.1.1选用PLC控制系统的要求26 4.1.2 PLC控制的特点和优点…27 4.1.3 PLC控制设计27 4.2 电磁制动器的选择…28 4.3 行程开关的选择…30 5总结32 6 致谢33 7 参考文献34 (责任编辑：qin) |