摘要：在冲压制造工艺过程中，冲床承担着重要却又危险的角色。因为就目前的中国众多与冲压工艺相关的企业而言，由操作人员手工对冲压件进行上下料的搬运的情形仍是普遍存在的。但正如之前所说的冲床承担着危险的角色，是因为冲床冲压模具时的冲压力，或是操作人员的不当行为随时都可能使危险发生，人员伤害事故屡见不鲜。目前为止，冲压自动化技术已经被广泛的运用在汽车制造的车间里，使得平均每两秒就能生产出一辆汽车，但是其他领域的冲压工艺并未得到迅速的发展，所以本次课题的设计是以上海第二锻压冲床厂生产制造的，型号为J23系列为原型的冲床进行特定的上下料机器人设计。根据这个情形所设计的机器人是以圆柱坐标型机器人为基础的具有六自由度的上下料机器人。57958

毕业论文关键词：上下料；圆柱坐标型机器人；六自由度

Design of upper and lower material robot for punch press

Abstract：In the process of stamping manufacturing process, the punch bears an important but dangerous role.Because currently many of the China enterprises which related with stamping process,the situation that the operator handling the stamping parts upper and lower by manual is still a common.But, as I said before punching machine also assumes the role of risk,Because of blunt pressure punch stamping die,or the improper operation of the operator at any time may cause danger,personnel injury accidents are not uncommon.So far, the stamping automation technology has been widely used in the automobile manufacturing workshop, making the average every two seconds will be able to produce a car.But other areas of the stamping process has not been rapid development,so this topic design is made to the Shanghai Second forging punch factory production, types of J23 series for the prototype of the punch of specific feeding robot design.According to the specific circumstances of the design of the robot is based on cylindrical coordinate robot with six degrees of freedom of the upper and lower material robot.

Keywords:Up and down material;Cylindrical coordinate robot;Six degrees of freedom

1  绪论 1

1.1  国内外研究现状 1

1.2  发展前景 1

1.2.1  冲床上下料机器人发展趋势 1

1.2.2  冲床上下料机器人的应用前景 1

1.3本课题的意义及目的 1

1.3.1  本课题的的意义 1

1.3.2  本课题的目的 2

2  机器人结构设计 3

2.1  冲床上下料机器人设计概述 3

2.2  各轴的电机、减速器的选择 4

2.2.1  Ⅰ轴电机及减速器的选择 4

2.2.2  Ⅱ轴电机及减速器的选择 7

2.2.3  Ⅲ轴电机及减速器的选择 9

2.2.4  Ⅳ轴电机及减速器的选择 10

2.2.5  Ⅴ轴电机及减速器的选择 12

2.2.6  Ⅵ轴电机及减速器的选择 13

2.3  传动系统设计 14

2.3.1  Ⅱ轴丝杠螺母设计 14

2.3.2  Ⅲ轴丝杠螺母设计 15