文档介绍：摘要
随着科技的发展和工业需求的增加,焊接技术在工业生产中所占据的分量越来越大,而且焊接技术的优良程度直接影响着零件或产品的质量。国内焊接机器人应用虽已具有一定规模,但与我国焊接生产总体需求相差甚远。因此,大力研究并推广焊接机器人技术势在必行。
本设计的重点是运用机械原理和机械制造装备设计方法设计焊接机器人的实践和方法。本次设计,是在了解焊接机器人在国内外现状的基础上,进而掌握焊接机器人内部结构和工作原理,并对手臂和腕部进行结构设计。合理布置了液压缸。同时了解机器人机械系统运动学及运动控制学。为工业上焊接机器人的设计提供理论参考、设计参考和数据参考,为工业设计者提供设计理论和设计实践的参考。该机器人具有刚性好,位置精度高、运行平稳的特点。
关键字:焊接机器人液压系统机械机构设计
Abstract
With the development of technology and the increase in industrial demand, welding in industrial production occupied more and more weight, and excellent welding technology directly affects the degree of the quality of parts or the domestic application of welding robot with a certain scale, but falls far short of the overall demand for , great efforts to study and promote the welding robot technology is imperative.
The focus of this design is the use of mechanical theory and design of machinery and equipment design and methods of practice welding design of the welding robot in understanding the basis of the status quo at home and abroad, and then grasp the welding robot and working principle of the internal structure, and structural design of the arm and arrangement of the hydraulic the same time understand the robot mechanical system kinematics and motion control the design of industrial welding robots to provide a theoretical reference, reference and data reference design for industrial designers and design practice, design theory robot has a good rigidity, high precision location, stable characteristics.
Keyword:Welding robot;hydraulic system;mechanical structure design
目录
摘要 I
Abstract II
目录 III
第1章引言 1
第2章焊接机器人的总体方案 3
总体设计的思路 3
自由度和坐标系的选择 3
传动方案论证 4
焊接机器人的组成 6
执行机构 6
控制系统分类 8
焊接机器人的技术参数 8
本章小结 8
第3章腕部结构的设计及计算 10
腕部设计的基本要求 10
腕部结构及选择 10
典型的腕部结构 10
腕部结构和驱动结构的选择 10
腕部结构设计计算 11
腕部驱动力计算 11
腕部驱动液压缸的计算 11
液压缸盖螺钉的计算 12