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畢業(yè)設(shè)計(jì)說(shuō)明書(shū)(論文)
作 者:
學(xué) 號(hào)：
系:
機(jī)械工程系
專(zhuān) 業(yè):
機(jī)械工程及自動(dòng)化
題 目:
噴涂機(jī)器人機(jī)械設(shè)計(jì)
─大臂系統(tǒng)設(shè)計(jì)
副教授
指導(dǎo)者：
(姓 名) (專(zhuān)業(yè)技術(shù)職務(wù))
評(píng)閱者：
(姓 名) (專(zhuān)業(yè)技術(shù)職務(wù))
畢業(yè)設(shè)計(jì)說(shuō)明書(shū)（論文）中文摘要
本課題設(shè)計(jì)了一種經(jīng)濟(jì)型噴涂機(jī)器人，可應(yīng)用于汽車(chē)車(chē)身噴涂等涂裝生產(chǎn)線中。該機(jī)器人由步進(jìn)電機(jī)驅(qū)動(dòng)，采用關(guān)節(jié)型坐標(biāo)結(jié)構(gòu)，具有五個(gè)自由度，其工作空間范圍為2600×1200×900。機(jī)器人機(jī)身采用齒輪傳動(dòng)，上下臂用滾珠絲杠和搖桿機(jī)構(gòu)傳動(dòng)，手腕采用鏈傳動(dòng)和齒輪傳動(dòng)。機(jī)器人的控制方式為開(kāi)環(huán)連續(xù)軌跡控制，采用手把手CP示教的方法示教。本文的設(shè)計(jì)重點(diǎn)是噴涂機(jī)器人的大臂系統(tǒng)，其大臂系統(tǒng)主要是指機(jī)械系統(tǒng)，并不包括控制系統(tǒng)。本設(shè)計(jì)包括大臂系統(tǒng)材料的選定，截面形狀的確定，外形結(jié)構(gòu)的確定和驅(qū)動(dòng)-傳動(dòng)裝置的設(shè)計(jì)計(jì)算選擇以及彈簧平衡的計(jì)算。
關(guān)鍵詞 噴涂機(jī)器人 大臂系統(tǒng) 步進(jìn)電機(jī) 手把手CP示教 滾珠絲杠
畢業(yè)設(shè)計(jì)說(shuō)明書(shū)（論文）外文摘要
Title Design of a Spray Coating Robot
——Design of the Big-arm System
Abstract
This topic has designed one economy spray coating robot, may apply in the automobile body spray coating and so on paints in the production line. This robot by step-by-steps the motor-driven, uses the joint coordinates structure, has five degrees of freedom, its working space scope for 2600×1200×900.The robot fuselage uses the gear drive, on the forearm with the ball bearing guide screw and the rocker mechanism transmission, the skill uses the chain drive and the gear drive. The robot control mode for the split-ring continual trajectory control, uses hand in hand the CP demonstration method demonstration. This article design key point is the spray coating robot big arm system, his/her the big arm system mainly refers to the mechanical system, not including control system. This design including big arm system material designation, section shape determination, contour structure determination and actuation pneumatic actuator design calculation choice as well as spring balance computation.
Keywords Spray coating robot Big-arm system Step motor Teaching by hand Ball screw