摘 要機(jī)器人技術(shù)是機(jī)電一體化產(chǎn)品，碼垛機(jī)器人成為一個(gè)領(lǐng)先的研究課題。運(yùn)用在不同領(lǐng)域，如機(jī)械，電子，信息理論，人工智能，生物學(xué)和計(jì)算機(jī)，知識(shí)等諸多領(lǐng)域的發(fā)展機(jī)械接頭端的設(shè)計(jì)，機(jī)器人也導(dǎo)致了這些學(xué)科的發(fā)展。碼垛型機(jī)器人是一種典型的機(jī)電一體化產(chǎn)品，工藝多碼垛運(yùn)動(dòng)的一個(gè)機(jī)械臂運(yùn)動(dòng)更多的領(lǐng)域進(jìn)行合作研究。機(jī)械，電子，信息理論，人工智能，知識(shí)和生物和計(jì)算機(jī)許多學(xué)科，但其發(fā)展的多機(jī)構(gòu)銜接所需組合碼垛也促成了這些學(xué)科的發(fā)展。本文采用在結(jié)構(gòu)設(shè)計(jì)上的 10KG 包裝袋碼垛機(jī)器人，并完成圖紙和零件圖總裝配圖。為機(jī)器人模型的要求被分析以估計(jì)電機(jī)的每個(gè)碼垛，充分的設(shè)得所需要的轉(zhuǎn)矩和功率。完成碼垛型機(jī)器人的程序設(shè)計(jì)，總體設(shè)計(jì)，結(jié)構(gòu)設(shè)計(jì)，運(yùn)動(dòng)學(xué)模型操盤分析，檢查，分析機(jī)器人模型，設(shè)計(jì)和生產(chǎn)機(jī)器人模型做的過程中強(qiáng)度的關(guān)鍵部件，繪制 3D 圖。關(guān)鍵詞：機(jī)械臂，結(jié)構(gòu)設(shè)計(jì)，10KG 包裝袋碼垛機(jī)器人，機(jī)械臂，電機(jī)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(lái)源及意義...................................................................................................31.2 碼垛機(jī)器人的發(fā)展進(jìn)程及發(fā)展趨勢(shì)...................................................................................31.3 課題的設(shè)計(jì)內(nèi)容...................................................................................................................42 總體方案設(shè)計(jì)...............................................................................................................................52.2 碼垛碼垛機(jī)器人工程概述..................................................................................................52.3 工業(yè)碼垛碼垛機(jī)器人總體設(shè)計(jì)方案論述..........................................................................52.4 碼垛機(jī)器人機(jī)械傳動(dòng)原理..................................................................................................62.5 碼垛機(jī)器人總體方案設(shè)計(jì)..................................................................................................72.6 本章小結(jié)..............................................................................................................................83 碼垛機(jī)器人大臂部結(jié)構(gòu)...............................................................................................................93.1 大臂部結(jié)構(gòu)設(shè)計(jì)的基本要求..............................................................................................93.2 大臂部結(jié)構(gòu)設(shè)計(jì)................................................................................................................103.3 大臂電機(jī)及減速器選型....................................................................................................103.4 減速器參數(shù)的計(jì)算............................................................................................................113.5 承載能力的計(jì)算.................................................................................................................143.5.1 柔輪齒面的接觸強(qiáng)度的計(jì)算.................................................................................143.5.2 柔輪疲勞強(qiáng)度的計(jì)算.............................................................................................154 小臂結(jié)構(gòu)設(shè)計(jì)...............................................................................................................................204.1 手指的相關(guān)設(shè)計(jì)與計(jì)算....................................................................................................204.2 手爪結(jié)構(gòu)設(shè)計(jì)與校核........................................................................................................204.3 結(jié)構(gòu)分析............................................................................................................................214.4 計(jì)算分析.............................................................................................................................224.5 腕部設(shè)計(jì)............................................................................................................................234.5.1 手腕偏轉(zhuǎn)驅(qū)動(dòng)計(jì)算.................................................................................................234.5.2 手腕俯仰驅(qū)動(dòng)計(jì)算.................................................................................................324.5.3 電動(dòng)機(jī)的設(shè)得.........................................................................................................32金陵科技學(xué)院學(xué)士學(xué)位論文 參考文獻(xiàn)4.6 小臂部結(jié)構(gòu)設(shè)計(jì)................................................................................................................334.7 小臂電機(jī)及減速器選型....................................................................................................334.7.1.傳動(dòng)結(jié)構(gòu)形式的設(shè)得..............................................................................................344.7.2.幾何參數(shù)的計(jì)算......................................................................................................354.8 凸輪波發(fā)生器及其薄壁軸承的計(jì)算................................................................................354.8.1 柔輪齒面的接觸強(qiáng)度的計(jì)算..................................................................................364.8.2 柔輪疲勞強(qiáng)度的計(jì)算..............................................................................................364.9 軸結(jié)構(gòu)尺寸設(shè)計(jì)................................................................................................................384.10 軸的受力分析及計(jì)算......................................................................................................384.11 軸承的壽命校核............................................................................................................39總 結(jié).................................................................................................................................................42參考文獻(xiàn)...........................................................................................................................................43致 謝...............................................................................................................................................44