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南 京 理 工 大 學(xué)
畢業(yè)設(shè)計(jì)說(shuō)明書(論文)
作 者:
王一峰
學(xué) 號(hào)：
060104240
學(xué)院(系):
機(jī)械工程學(xué)院
專 業(yè):
機(jī)械工程及自動(dòng)化
題 目:
噴涂機(jī)器人設(shè)計(jì)
—機(jī)身系統(tǒng)設(shè)計(jì)
副教授
郭鋼
指導(dǎo)者：
(姓 名) (專業(yè)技術(shù)職務(wù))
胡小秋
副教授
評(píng)閱者：
(姓 名) (專業(yè)技術(shù)職務(wù))
2010年 6 月
畢業(yè)設(shè)計(jì)說(shuō)明書（論文）中文摘要
本文主要介紹的是一種噴涂機(jī)器人的總體方案論證與機(jī)身系統(tǒng)的設(shè)計(jì)。首先根據(jù)技術(shù)要求，確定機(jī)器人的結(jié)構(gòu)型式為關(guān)節(jié)型，驅(qū)動(dòng)方式選擇步進(jìn)電機(jī)驅(qū)動(dòng)，由工作空間計(jì)算出大、小臂尺寸，控制方式為開環(huán)連續(xù)軌跡控制，手把手示教。其次設(shè)計(jì)了噴涂機(jī)器人的機(jī)身系統(tǒng)，設(shè)計(jì)過(guò)程中先選擇了步進(jìn)電機(jī)的型號(hào)，然后確定傳動(dòng)方式選擇齒輪傳動(dòng)帶動(dòng)腰部轉(zhuǎn)動(dòng)，其中齒輪傳動(dòng)為二級(jí)圓柱直齒輪減速傳動(dòng)，并對(duì)傳動(dòng)系統(tǒng)中齒輪、軸、軸承進(jìn)行了設(shè)計(jì)與校核。
關(guān)鍵詞 噴涂機(jī)器人 機(jī)身系統(tǒng) 齒輪傳動(dòng) 步進(jìn)電機(jī)
畢業(yè)設(shè)計(jì)說(shuō)明書（論文）外文摘要
Title Design of a spray painting robot
——Design of the fuselage system
Abstract
This paper is an overall introduction in conceptual design and study of painting robot, which demonstrates the design of system in certain robot. Firstly under the technical requirements, choose the structure of the robot as articulated robot, stepper motor as driver. Arm size is decided by calculating the working space. Control mode is open-loop control method for the continuous trajectory control, hands-teaching. This is followed by the design of the painting robot systems. In the design process, first the model of the stepper motor is selected, and then the driving mode is determined that is back rotation is driven by transmission gear. Toothed gearing is double-geared spur gear reduced drive. Gear, shaft, bearings in the transmission system is designed and checked.
Keywords coating robot Fuselage system Gear-driven stepper motor