多自由度直角坐标型码垛机器人结构毕业设计说明书

多自由度直角坐标型码垛机器人本体结构设计

Body structure design of rectangular coordinate

palletizing robot with the multi-degree freedom

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所在专业机械设计制造及其自动化

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目录

设计总说明 ............................................................... I INTRODUCTION ............................................................ II 1 绪论 . (1)

码垛机器人的发展状况 (1)

研究目的及意义 (1)

2 课题内容及要求 (2)

2．1 研究目标、内容及拟解决的关键问题 (2)

参数要求 (2)

3 总体机构设计 (3)

机械抓手设计 (6)

方案选择 (6)

力学分析 (7)

气缸选择 (9)

丝杆螺母副的计算与选型 (9)

Z轴滚珠丝杠螺母副的计算与选型 (9)

x轴和y轴滚珠丝杠螺母副的计算与选型 (12)

各轴驱动电机选型 (12)

Z旋转轴电机的选择 (13)

Z轴步进电机的计算与选型 (15)

x轴和y轴步进电机的选用 (17)

直线滚动导轨副的计算与选型 (18)

轴承的选用 (20)

Z旋转轴轴承的选用 (20)

Z轴滚珠丝杠下端单向推力球轴承的计算与选型 (20)

其他轴承的选用 (21)

锥齿轮传动的计算与选型 (23)

4 总体支架的受力分析 (25)

总结 (29)

鸣谢 (30)

参考文献 (31)

设计总说明

直角型码垛机器人是工业机器人的一种，通过对它的数控编程，它能实现可以在XYZ 三维坐标系中任意一点的移动和遵循可控的运动轨迹。可以实现很多种码垛的方式，在生产线上对替代人工，提高生产效率等具备显著的应用价值。

本课题设计的设计内容是完成多自由度直角坐标型码垛机器人本体结构设计，此码垛机器人有四个自由度，用于在流水线对纸箱整齐地码垛在托盘上，能够快速紧凑地码垛。可以通过快速替换机械抓手和重新编程对不同大小的物体进行快速码垛，可以适应不同的码垛对象，应用广泛。

第一步：是对国内外有关码垛机器人领域内的研究背景和发展状况进行了解，并了解其研究目的及意义。

第二步:是对码垛机器人的总体方案的选择：通过进行了详细的对比与选择，找到最合适的设计方案，最后方案采用龙门式机构，主要采用是滚珠丝杆螺母副传动，驱动装置采用步进电机，可以通过数控编程改变码垛的路线。

第三步:是通过对履带机器人的使用情况与需求，对机构的选型与计算，主要机构有机械抓手、滚动丝杆螺母副、直线滚动导轨副、步进电机、滚动轴承等。

第四步:是通过Pro/E画出该码垛机的总体三维结构图，通过CAD画出码垛机总装配图和其零件图，最后通过Pro/E画出该码垛机运动仿真。

关键词：码垛机器人；丝杆螺母；步进电机

INTRODUCTION

Right angle type palletizing robot is a kind of industrial robot. Through the NC programming, it can move in the XYZ coordinate system of arbitrary point mobile and follow the trajectories of can palletize in so many ways in the production line to replace the workerl, improving production efficiency and having significant application value.

This time, the design content of this graduation design is to complete the multi degree of freedom rectangular coordinate palletizing robot body structure design, the palletizing robot has four degrees of freedom, used in the production line of carton packaging of product palletizing in can compact stacking Can replace mechanical grip and re- programe of different size objects for rapid palletizing,and adapt to different palletising object, having a wide range of applications.

The first step of the design is to understand at home and abroad of palletizing robot in the field of the research background and development situation, and understand the purpose and significance of the research.

The second step is the selection of the overall scheme of the palletizing robot: through detaileing comparison and selection, finding the most suitable design. Finally,i chosed the gantry mechanism, the ball screw nut transmission, drive the stepper motor, through the NC programming change stacking line.

The third step is through the use condition and the demand of tracked robot, selectiing and calculating of the agency, main body with mechanical grip and rolling screw nut pair, linear rolling guideways, step motor, rolling bearing and so on.

The forth step is through the Pro/E to draw the palletizing machine overall three-dimensional structure, through the CAD to draw out the palletizing machine assembly drawing and the parts drawing. Finally, through the Pro / E ,i draw the palletizing machine motion simulation.

KEYWORDS: Palletizing robot；Screw nut；Stepper motor