摘要 家电制造行业及汽车生产行业都需要对产品喷漆，但目前所使用的油漆中大多含有苯，苯是一种易挥发的致癌物质，会对工人身体产生巨大危害。为了替代人工劳动，喷漆机器人应运而生。本文完成了一种五自由度喷漆机器人大臂系统的设计。机器人总体设计采用了关节式坐标，系统由大臂、小臂及机身组成。腕部关节有回转和摆动两个自由度，其余关节均为一个自由度。大臂与小臂均采用步进电机驱动，滚珠丝杠传动。其中，小臂体铰接于大臂上，与大臂在垂直与机身的平面内摆动，机身在水平面内回转，可模仿人类手臂实现复杂表面的喷涂作业。大臂系统臂身采用了铝合金材料，并且将驱动电机安装在机座上，减轻了自身重量，提高了整体动态性能。48908

关键词：喷漆机器人 结构设计 步进电机 滚珠丝杠

毕业论文设计说明书外文摘要

Title: Main arm design of painting robot

Abstract Home appliance industry and the automotive industry are required for product paint, but most of the paint used in the paint contains benzene, benzene is a volatile carcinogenic substances, will cause great harm to the body of workers. In order to replace the manual labor, spray painting robot came into being. In this paper, a design of five degree of freedom spray painting robot arm system is completed. The overall design of the robot adopts the joint coordinate system, which is composed of a large arm, a small arm and a body. A wrist rotation and swing two degrees of freedom, the other is a joint degree of freedom. Big arms and small arms are driven by stepping motor, ball screw drive. The small arms are hinged on the upper arm, and the arm is in the plane of the vertical and the plane of the swing, the body in the horizontal plane rotation, can imitate the human arm to achieve complex surface coating operation. Arm arm system the aluminum alloy material, and to the drive motor is installed on the frame, reducing the weight of its own, improve the dynamic performance of the whole.

Keywords: painting robot ;structure design;Stepper motor;ball screw

目次

1.绪论 1

1.1引言 1

1.2喷漆机器人的特点和组成 1

1.2.1喷涂机器人的特点 1

1.2.2 喷漆机器人的组成 2

1.3喷漆机器人发展和现状 2

1.4  喷涂机器人的发展前景 3

2.喷漆机器人总体设计 4

2.1设计技术要求 4

2.2坐标形式的选择 5

2.3传动方式的确定 5

2.4 驱动方式的确定 6

2.5平衡方式的确定 7

2.6总装示意图 7

3.大臂系统设计 8

3.1大臂尺寸设计 8

3.2大臂臂身设计 10

3.2.1大臂与小臂连接处设计 10

3.2.2小臂驱动电机安装 10

3.2.3腕部驱动电机安装 11

3.2.4大臂壳体的设计 11

3.3大臂驱动系统设计 12

3.3.1大臂驱动电机安装 12

3.3.2步进电机的选择