最新多自由度直角坐標(biāo)型碼垛機(jī)器人結(jié)構(gòu)畢業(yè)設(shè)計(jì)說(shuō)明書(已修改)
2025-07-08 08:21 本頁(yè)面
【正文】 多自由度直角坐標(biāo)型碼垛機(jī)器人本體結(jié)構(gòu)設(shè)計(jì)Body structure design of rectangular coordinate palletizing robot with the multidegree freedom學(xué)生姓名 學(xué)號(hào)所在學(xué)院 班級(jí)所在專業(yè) 機(jī)械設(shè)計(jì)制造及其自動(dòng)化申請(qǐng)學(xué)位 學(xué)士指導(dǎo)教師 職稱副 指 導(dǎo) 教 師 職稱答辯時(shí)間目 錄設(shè)計(jì)總說(shuō)明 ................................................................IINTRODUCTION .............................................................II1 緒論 ....................................................................1 碼垛機(jī)器人的發(fā)展?fàn)顩r ...............................................1 研究目的及意義 .....................................................12 課題內(nèi)容及要求 ..........................................................22．1 研究目標(biāo)、內(nèi)容及擬解決的關(guān)鍵問(wèn)題 ..................................2 參數(shù)要求 ...........................................................33 總體機(jī)構(gòu)設(shè)計(jì) ............................................................3 機(jī)械抓手設(shè)計(jì) .......................................................6 方案選擇 .....................................................6 力學(xué)分析 .....................................................7 氣缸選擇 .....................................................9 絲桿螺母副的計(jì)算與選型 .............................................9 Z 軸滾珠絲杠螺母副的計(jì)算與選型 ................................9 x 軸和 y 軸滾珠絲杠螺母副的計(jì)算與選型 .........................12 各軸驅(qū)動(dòng)電機(jī)選型 ..................................................12 Z 旋轉(zhuǎn)軸電機(jī)的選擇 ...........................................13 Z 軸步進(jìn)電機(jī)的計(jì)算與選型 .....................................15 x 軸和 y 軸步進(jìn)電機(jī)的選用 .....................................17 直線滾動(dòng)導(dǎo)軌副的計(jì)算與選型 ........................................18 軸承的選用 ........................................................20 Z 旋轉(zhuǎn)軸軸承的選用 ...........................................20 Z 軸滾珠絲杠下端單向推力球軸承的計(jì)算與選型 ...................20 其他軸承的選用 ..............................................21 錐齒輪傳動(dòng)的計(jì)算與選型 ............................................234 總體支架的受力分析 .....................................................25總 結(jié) ...................................................................29鳴 謝 ...................................................................30參考文獻(xiàn) .................................................................31I設(shè)計(jì)總說(shuō)明直角型碼垛機(jī)器人是工業(yè)機(jī)器人的一種，通過(guò)對(duì)它的數(shù)控編程，它能實(shí)現(xiàn)可以在XYZ 三維坐標(biāo)系中任意一點(diǎn)的移動(dòng)和遵循可控的運(yùn)動(dòng)軌跡。可以實(shí)現(xiàn)很多種碼垛的方式，在生產(chǎn)線上對(duì)替代人工，提高生產(chǎn)效率等具備顯著的應(yīng)用價(jià)值。 本課題設(shè)計(jì)的設(shè)計(jì)內(nèi)容是完成多自由度直角坐標(biāo)型碼垛機(jī)器人本體結(jié)構(gòu)設(shè)計(jì)，此碼垛機(jī)器人有四個(gè)自由度，用于在流水線對(duì)紙箱整齊地碼垛在托盤上，能夠快速緊湊地碼垛?？梢酝ㄟ^(guò)快速替換機(jī)械抓手和重新編程對(duì)不同大小的物體進(jìn)行快速碼垛，可以適應(yīng)不同的碼垛對(duì)象，應(yīng)用廣泛。 第一步：是對(duì)國(guó)內(nèi)外有關(guān)碼垛機(jī)器人領(lǐng)域內(nèi)的研究背景和發(fā)展?fàn)顩r進(jìn)行了解，并了解其研究目的及意義。 第二步:是對(duì)碼垛機(jī)器人的總體方案的選擇：通過(guò)進(jìn)行了詳細(xì)的對(duì)比與選擇，找到最合適的設(shè)計(jì)方案，最后方案采用龍門式機(jī)構(gòu)，主要采用是滾珠絲桿螺母副傳動(dòng)，驅(qū)動(dòng)裝置采用步進(jìn)電機(jī)，可以通過(guò)數(shù)控編程改變碼垛的路線。 第三步:是通過(guò)對(duì)履帶機(jī)器人的使用情況與需求，對(duì)機(jī)構(gòu)的選型與計(jì)算，主要機(jī)構(gòu)有機(jī)械抓手、滾動(dòng)絲桿螺母副、直線滾動(dòng)導(dǎo)軌副、步進(jìn)電機(jī)、滾動(dòng)軸承等。 第四步:是通過(guò) Pro/E 畫出該碼垛機(jī)的總體三維結(jié)構(gòu)圖，通過(guò) CAD 畫出碼垛機(jī)總裝配圖和其零件圖，最后通過(guò) Pro/E 畫出該碼垛機(jī)運(yùn)動(dòng)仿真。關(guān)鍵詞：碼垛機(jī)器人；絲桿螺母；步進(jìn)電機(jī)IIINTRODUCTION 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 plete 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 pact 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 parison and selection
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