摘要：本课题要求学生设计一种用于完成焊接操作和等离子切割操作多用途的工业机器人系统。要求对机器人的结构中的薄弱环节和关键环节进行校核。并完成工业机器人的传感器配置和控制方案设计。本次设计内容主要步骤是选择机器人结构方案后分别设计各个自由度机构，再通过计算选择各自由度的载荷选用电机，根据机器人关节移动的转速选用合适的减速器，在减速器选用中设计一个二级齿轮减速器，设计的目的是为了锻炼我们本科生基本设计能力。再设计一种特殊的末端执行机构，要求该执行机构能够实现等离子切割机和焊枪的功能转换。67749

设计机器人要求臂展1800mm以上，以及能够带动12kg以上的负载。这种机器人的设计在工业上可以有效的增加机器人的工作效率，为工业自动化带来进一步的发展。

毕业论文关键词：工业机器人；多用途机器人；二级减速器 

Abstract: this topic requires students to design a kind of industrial robot system which can be used for welding operation and plasma cutting operation. It is necessary to check the weak links and key links in the structure of the robot. The sensor configuration and control scheme of the industrial robot are designed. The main content of the design steps are designed respectively in different degrees of freedom robot mechanism structure scheme selection, then we calculate the different degrees of freedom load motor selection, the selection of mobile robot according to the speed reducer proper design, a two gear reducer used in gear reducer, the purpose of design is to exercise the basic our ability to design undergraduate. A special end actuator is designed, which can realize the function conversion of plasma cutting machine and welding torch.

Design robot arm above 1800mm, and can drive more than 12kg load. The design of this kind of robot can effectively increase the efficiency of the robot in the industry, and bring about the further development of the industrial automation.

Key words: industrial robot; multi purpose robot; two stage reducer

目录

1. 绪论 1

1.1本课题的意义与目的 1

1.2工业机器人国内外研究现状 1

1.2.1国内现状 1

1.2.2国外现状 2

2.方案设计及其选择 3

2.1  机器人结构方案选择 3

2.2  机器人末端执行机构方案选择 4

3.  机器人结构设计 5

3.1手爪回转关节设计 5

3.1.1伺服电机和RV减速器的选择 5

3.1.2电机校核 6

3.2腕部俯仰关节的设计 6

3.2.1 伺服电机和RV减速器的选择 6

3.2.2电机校核 7

3.3腕部回转关节设计 8

3.3.1伺服电机的选择 8

3.3.2电机3减速器选型 9

3.3.2.1二级减速器第一组齿轮设计 9

3.3.2.2二级减速器第二组齿轮设计 13

3.3.2.3二级减速器第一根轴设计 17

3.3.2.4二级减速器第二根轴设计 19

3.3.2.5二级减速器第三根轴设计