焊接机器人腰部结构设计

I焊接机器人腰部结构设计摘要工业机器人最大的应用领域是焊接机器人,它占工业机器人总数的25%左右。由于对许多构件的焊接精度和速度等提出越来越高的要求,一般工人已难以胜任这一工作;此外6自由度焊接机器人还可以减少焊接时的火花及烟雾等对人体造成危害,因而,本课题的提出就有十分重要的意义。为了提高生产效率和产品的焊接质量,满足实际工作需要,本课题设计了用于焊接的关节型机器人。根据机器人的工作要求和结构特点，进行了机器人的总体设计，确定了机器人的外形尺寸和工作空间，拟定了机器人各关节的总体传动方案，对机器人腰关节结构进行了详细设计，合理布置了电机和齿轮，确定了各级传动参数，进行了齿轮、轴和轴承的设计计算和校核。利用齐次变换矩阵法建立了六自由度关节机器人的正运动学模型，求出机器人末端相对于各自参考坐标系的齐次坐标值，建立了在直角坐标空间内机器人末端执行器的位置和姿态与关节变量值的对应关系。基于几何投影原理推导出相应的逆运动学模型，求出了各个关节的角度值，建立了机器人关节空间与世界空间的映射关系。该机器人具有刚性好，位置精度高、运行平稳的特点。关键词：关节型机器人；总体设计；腰部结构设计；6自由度。6自由度焊接机器人结构设计IIThewaiststructuraldesignofarticulatedrobotABSTRACTThelargestindustrialrobotapplicationisweldingrobot,whichaccountedforthetotalnumberofindustrialrobotsabout25percent.Becauseofthemanycomponentsofweldingprecisionandspeedtothegrowingdemands,thegeneralcompetenceofworkershasbeendifficultthiswork;Moreover,theweldingrobotcanalsoreducetheweldingsparksandsmokecausedharmtothehumanbodyandso,therefore,thesubjectTheproposalhasverygreatsignificance.Inordertoimprovetheefficiencyofproductionandweldingqualityofproductsandmeetrealwork'sneeds,thissubjecthasdesignedthearticulatedrobotusedforwelding.Accordingtothejobrequirementsfortherobotandstructurecharacteristic,Ihavecarriedontheoveralldesignoftherobot,confirmedtheexternaldimensionandworkspaceoftherobot,draftedtheoveralltransmissionschemeofeveryjointoftherobot.Ihavedesignedthewaiststructureoftherobotindetail,assignedtheelectricalmachineryandgearwheelrationally,confirmedatallleveltransmissionparameters,carriedonthedesignandcalculatingofgearwheels,shaftsandbearingsandcheckingthem.Thekinematicmodelofrobotsystemhasbeenbuiltupbymeansofthehomogenoustransformationofmatrixinthisthesisanddeducestherobot'shomogenouscoordinatewhichisrelativetoitsreferencecoordinate.Wealsomakeupthepositionrelationshipbetweentherobot'sendeffectorandthevariablefriableofeveryjoint.Theinversekinematicmodelisdeducedwhichbasedontheprojectionprincipleofgeometryandthevalueofangleisworkedout.What’smore,therelationshipisbuiltupbetweenthejointspaceofrobotandtheworldspace.Thisrobothasthecharacteristicsoffinerigidity,positionprecisionhigh,thatoperatesteadily.Keywords:Articulatedrobot;Designoverallly;Waistarticulatedstructuraldesignoftherobot；6III目录第一章绪论......................................................11.1题目来源与分析.............................................11.2研究目的...................................................2第二章6自由度焊接机器人结构设计.................................42.1确定基本技术参数...........................................42.1.1机械结构类型的选择...................................................................................42.1.2额定负载.......................................................................................................42.1.3工作范围.......................................................................................................52.1.4操作机的驱动系统设计...............................................................................52.1.5控制系统选择...............................................................................................62.1.6确定关节型机器人手臂的配置形式...........................................................62.2关节型机器人本体结构设计...................................7第三章6自由度焊接机器人腰部结构设计..........................103.1电动机的选择...............................................103.2计算传动装置的总传动比和分配各级传动比.....................103.3轴的确定..................................................113.4齿轮的参数................................................113.5自由度焊接机器人立柱设计...................................123.6自由度焊接机器人基座设计..................................136自由度焊接机器人结构设计IV第四章焊接机器人腕部结构设计...................................144.1回转部分..................................................144.1.1选择电动机...............................................144.1.1选择电动机的类型......................................................................................144.1.2传动装置的总传动比及各级传动比分配.................................................154.1.3传动装置的总传动比...............................................................................154.1.4分配各级传动比.........................................................................................154.1.5计算传动装置的运动参数和动力参数.........................154.1.6轴的计算.....................................................................................................154.1.7确定齿轮传动的精度..................................................................................214.1.8确定齿轮的参数..........................................224.1.9选择材料.....................................................................................................224.1.10压力角的选择........................................................................................224.1.11齿数和模数的选择....................................................................................224.4.12确定齿宽系数..........................................................................................224.3摆腕部分..................................................264.3.1传动装置的总传动比及各级传动比分配.................................................264.3.1确定三根轴的具体尺寸............................................................................