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畢業(yè)設計說明書(論文)
作 者:
學 號:
系:
機械工程系
專 業(yè):
機械工程及自動化
題 目:
噴涂機器人機械設計
─大臂系統(tǒng)設計
副教授
指導者:
(姓 名) (專業(yè)技術職務)
評閱者:
(姓 名) (專業(yè)技術職務)
畢業(yè)設計說明書(論文)中文摘要
本課題設計了一種經(jīng)濟型噴涂機器人,可應用于汽車車身噴涂等涂裝生產(chǎn)線中。該機器人由步進電機驅動,采用關節(jié)型坐標結構,具有五個自由度,其工作空間范圍為2600×1200×900。機器人機身采用齒輪傳動,上下臂用滾珠絲杠和搖桿機構傳動,手腕采用鏈傳動和齒輪傳動。機器人的控制方式為開環(huán)連續(xù)軌跡控制,采用手把手CP示教的方法示教。本文的設計重點是噴涂機器人的大臂系統(tǒng),其大臂系統(tǒng)主要是指機械系統(tǒng),并不包括控制系統(tǒng)。本設計包括大臂系統(tǒng)材料的選定,截面形狀的確定,外形結構的確定和驅動-傳動裝置的設計計算選擇以及彈簧平衡的計算。
關鍵詞 噴涂機器人 大臂系統(tǒng) 步進電機 手把手CP示教 滾珠絲杠
畢業(yè)設計說明書(論文)外文摘要
Title Design of a Spray Coating Robot
——Design of the Big-arm System
Abstract
This topic has designed one economy spray coating robot, may apply in the automobile body spray coating and so on paints in the production line. This robot by step-by-steps the motor-driven, uses the joint coordinates structure, has five degrees of freedom, its working space scope for 2600×1200×900.The robot fuselage uses the gear drive, on the forearm with the ball bearing guide screw and the rocker mechanism transmission, the skill uses the chain drive and the gear drive. The robot control mode for the split-ring continual trajectory control, uses hand in hand the CP demonstration method demonstration. This article design key point is the spray coating robot big arm system, his/her the big arm system mainly refers to the mechanical system, not including control system. This design including big arm system material designation, section shape determination, contour structure determination and actuation pneumatic actuator design calculation choice as well as spring balance computation.
Keywords Spray coating robot Big-arm system Step motor Teaching by hand Ball screw