四自由度圆柱坐标机器人机械手臂设计

四自由度圆柱坐标型工业机器人机械设计

摘要

在现代制造业中，工业机器人已成为不可或缺的核心自动化装备。工业机器人适应工作环境能力强，可担任各种类型各种强度的生产工作，精度高、速度快、易于控制，可显著提高生产的工业自动化水平。国工业机器人起步晚，市场占有率低，许多核心技术还没有掌握，可靠性低，应用围小，零部件互换性低。

现设计一种四自由度的圆柱坐标型机器人，能实现工件的上下搬运。该四自由度机器人由两个旋转自由度机构和两个平移自由度机构组成，根据机器人运动参数，选择足够功率的伺服电机，然后，估算驱使机构各自由度运动需要的力及扭矩，选择传动比合适且大小合适的减速器。通过伺服电机减速器驱动机构的运动，实现机器人腰部旋转，手臂的竖直升降，手臂的水平移动和末端操纵器的旋转。在机器人辅助系统的设计部分，还考虑了伺服电机导线坦克链的排布，机构零点位置的触发开关及其导线排布的设计。

关键词：四自由度，圆柱坐标，工业机器人，机械设计

Mechanical Design of a 4-DOF Cylindrical

Industrial Robot

Abstract

In modern manufacturing, industrial robot has become an indispensable core automation equipment. Industrial robot has good adaptability, can adapt to all kinds of mass production, high precision, fast speed, easy to control, can significantly improve the automation level of production. Domestic industrial robots started late, has low market share, low reliability, and many core technologies have not yet mastered. The application scope is small, the interchangeability of parts is low.

The design of a kind of four degree of freedom cylindrical coordinate robot, can realize the workpiece moving up and down. The four degree of freedom robot mechanism is composed of two rotational degrees of freedom and two translational degrees of freedom mechanism. According to the robot movement parameters, servo motor is selected, and then estimates the sufficient power, force and torque of each degree of freedom movement needs, choose the appropriate transmission ratio and suitable reducer. Drive mechanism motion through the servo motor reducer, and then we can realize the robot waist rotation, vertical lifting arm, arm movement and rotation of the end effector. In part of the design of robot auxiliary

system, we take the arrangement of servo motor wire tank chain, design the trigger switch and wire arranging mechanism the zero position into consideration.

Key Words：4-DOF; Cylindrical coordinates; Industrial Robot; Mechanical design

目录

摘要 (ⅰ)

Abstract (ⅱ)

第一章引言 (1)

1.1 工业机器人 (1)

1.1.1 工业机器人的概念及特点 (1)

1.1.2 工业机器人的组成 (1)

1.1.3 国外发展状况 (2)

1.2 研究容 (2)

1.2.1 研究方法 (2)

1.2.2 研究成果 (2)

1.3研究意义 (2)

第二章机构结构设计 (4)

2.1 设计分析及方案拟定 (4)

2.1.1 设计要求 (4)

2.1.2 设计流程 (5)

2.1.3 方案拟定 (5)

2.2 主要结构件设计 (6)

2.2.1旋转平台结构 (6)

2.2.2滚珠丝杠结构 (7)

2.2.3中间连接器 (9)

2.2.4外壳设计 (11)

2.3受载变形校核 (11)

第三章传动机构设计 (13)

3.1腰部转动 (13)

3.1.1减速器选择 (13)

3.1.2伺服电机选择 (14)

3.1.3传动法兰盘设计 (15)

3.2竖直平移 (16)

3.2.1滚珠丝杠及螺母选择 (16)

3.2.2伺服电机选择 (18)

3.2.3联轴器选择 (19)

3.3水平平移 (20)

3.3.1滚珠螺母丝杠选择 (21)

3.3.2伺服电机选择 (21)

3.3.3联轴器选择 (22)

3.4手臂末端操纵器旋转 (23)

3.4.1伺服电机选择 (23)

3.4.2减速器选择 (24)

第四章辅助机构设计 (25)

4.1 坦克链线路设计 (25)

4.2 机构零点设计 (26)