摘 要機器人技術是機電一體化產品，碼垛機器人成為一個領先的研究課題。運用在不同領域，如機械，電子，信息理論，人工智能，生物學和計算機，知識等諸多領域的發(fā)展機械接頭端的設計，機器人也導致了這些學科的發(fā)展。碼垛型機器人是一種典型的機電一體化產品，工藝多碼垛運動的一個機械臂運動更多的領域進行合作研究。機械，電子，信息理論，人工智能，知識和生物和計算機許多學科，但其發(fā)展的多機構銜接所需組合碼垛也促成了這些學科的發(fā)展。本文采用在結構設計上的 10KG 包裝袋碼垛機器人，并完成圖紙和零件圖總裝配圖。為機器人模型的要求被分析以估計電機的每個碼垛，充分的設得所需要的轉矩和功率。完成碼垛型機器人的程序設計，總體設計，結構設計，運動學模型操盤分析，檢查，分析機器人模型，設計和生產機器人模型做的過程中強度的關鍵部件，繪制 3D 圖。關鍵詞：機械臂，結構設計，10KG 包裝袋碼垛機器人，機械臂，電機1AbstractRobotics is a mechatronic products, palletizing robot into a leading research. Used in different fields, such as machinery, electronics, information theory, artificial intelligence, biology and computer knowledge, and many other developments in the field of mechanical coupling end design, the robot also led to the development of these disciplines. Palletizing robot is a typical mechatronic products, processes more than a hot arm palletizing motion movement more areas of collaborative research. Many disciplines mechanics, electronics, information theory, artificial intelligence, knowledge and biological and computer, but the development of its multi-agency convergence desired combination of stacking also contributed to the development of these disciplines.In this paper, the structural design of lightweight gypsum wallboard palletizing robot and complete drawings and part drawings assembly drawing. To require each robot model are analyzed to estimate the motor palletizing, full set was required torque and power. Complete palletizing robot programming, design, structural design, manipulator kinematics model analysis, inspection, analysis robot models, key components design and production process of doing robot model intensity, plotted in Fig. 3D.Keywords: arm, structural design, lightweight gypsum wallboard palletizing robot motor2目 錄摘 要 ................................................................................................................................................IIAbstract...............................................................................................................................................11 緒論...............................................................................................................................................31.1 課題的背景、來源及意義...................................................................................................31.2 碼垛機器人的發(fā)展進程及發(fā)展趨勢...................................................................................31.3 課題的設計內容...................................................................................................................42 總體方案設計...............................................................................................................................52.2 碼垛碼垛機器人工程概述..................................................................................................52.3 工業(yè)碼垛碼垛機器人總體設計方案論述..........................................................................52.4 碼垛機器人機械傳動原理..................................................................................................62.5 碼垛機器人總體方案設計..................................................................................................72.6 本章小結..............................................................................................................................83 碼垛機器人大臂部結構...............................................................................................................93.1 大臂部結構設計的基本要求..............................................................................................93.2 大臂部結構設計................................................................................................................103.3 大臂電機及減速器選型....................................................................................................103.4 減速器參數的計算............................................................................................................113.5 承載能力的計算.................................................................................................................143.5.1 柔輪齒面的接觸強度的計算.................................................................................143.5.2 柔輪疲勞強度的計算.............................................................................................154 小臂結構設計...............................................................................................................................204.1 手指的相關設計與計算....................................................................................................204.2 手爪結構設計與校核........................................................................................................204.3 結構分析............................................................................................................................214.4 計算分析.............................................................................................................................224.5 腕部設計............................................................................................................................234.5.1 手腕偏轉驅動計算.................................................................................................234.5.2 手腕俯仰驅動計算.................................................................................................324.5.3 電動機的設得.........................................................................................................32金陵科技學院學士學位論文 參考文獻4.6 小臂部結構設計................................................................................................................334.7 小臂電機及減速器選型....................................................................................................334.7.1.傳動結構形式的設得..............................................................................................344.7.2.幾何參數的計算......................................................................................................354.8 凸輪波發(fā)生器及其薄壁軸承的計算................................................................................354.8.1 柔輪齒面的接觸強度的計算..................................................................................364.8.2 柔輪疲勞強度的計算..............................................................................................364.9 軸結構尺寸設計................................................................................................................384.10 軸的受力分析及計算......................................................................................................384.11 軸承的壽命校核............................................................................................................39總 結.................................................................................................................................................42參考文獻...........................................................................................................................................43致 謝...............................................................................................................................................44