焊接机器人传动装置的研究

东北农业大学学士学位论文学号：焊接机器人传动装置的研究学生姓名：指导教师：所在院系：所学专业：研究方向：东北农业大学中国·哈尔滨2012年5月NEAUDissertationofBachelorDegreeNumber:THERESEARCHONTRANSMISSIONEQUIPMENTOFWELDINGROBOTStudentName:Supervisor:Departmentandfaculty:Major:Orientation:NortheastAgriculturalUniversityHarbin·ChinaMay2012摘要I摘要机器人技术是综合了计算机、控制论、机构学、信息和传感技术、人工智能、仿生学等多学科而形成的高新技术，是当代研究十分活跃，应用日益广泛的领域。机器人应用情况，是一个国家工业自动化水平的重要标志。本次设计是焊接机械手设计，以实用设计为目的，提出用机器人实现焊接动作的设计思想。其主要内容包括机器人的总体设计以及传动系统的构成与设计，电动机的选择，圆锥齿轮的设计与校核，谐波减速器的原理以及选择，腕部转动轴的校核，滚动轴承的选择与校核等。此外也介绍了机械手的设计，机器人运动学和动力学分析等内容。焊接机器人在通用机械、金属结构等许多行业中得到广泛运用，最普遍的主要有两种方式，即点焊和弧焊。弧焊机器人是包括各种电弧焊附属装置在内的柔性焊接系统，而不只是一台以规划的速度和姿态携带焊枪移动的单机，因而对其性能有着特殊的要求。在弧焊作业中，焊枪应跟踪工件的焊道运动，并不断填充金属形成焊缝。因此运动过程中速度的稳定性和轨迹精度是两项重要指标。一般情况下，焊接速度约取5-50mm/s，轨迹精度约为±（0.2-0.5）mm。此次设计的焊接机械手采用电机驱动、微机控制，结构紧凑，工作范围大，动作灵活，用于弧焊作业。具有效率高、结构紧凑、新颖、重量轻等特点，同时为机械臂及底座部分的重量分布考虑出了余地。此外，本设计减轻焊工的劳动强度，同时也可以保证焊接质量和提高焊接效率。由于其结构具有工业机器人的典型性，所以对一般机器人的研究也具有通用性，具有一定的研究价值。关键词：机器人；焊接；机械手；谐波减速器AbstractIITheResearchonTransmissionEquipmentofWeldingRobotAbstractRoboticsisahightechnologythatincludesmanysubjectssuchascomputer,cybernetics,mechanism,informationandsensortechnology,artificialintelligence,bionics.Itisafieldthatactiveandappliedwidelyincontemporary.Theapplicationsoftherobotrepresentasignwhichacountry’slevelofindustrialautomation.Thispaperistheweldingapparatusmanipulatordesign.Ittakesthepracticaldesignasthegoalandputsforwardthethoughtthatusingrobotcarriesouttheweldingaction.Themaincontentsincludetheoveralldesignofrobot,thecompositionanddesignofthetransmissionsystem,theselectofelectricmotor,thedesignandcheckofthebevelgear,thekinematicsanddynamicsofrobot,thecheckofaxisofrotationinbase,theselectandcheckoftherollingbearingandsoon.Themostimportantstudyofthepaperaimsatthedesignofmanipulatorandtheapplyingofharmonicreducer.Theweldingrobotobtainswideutilizationinthegeneralmachinery,themetalstructureandotherprofessions.Ithastwomainmanners,thosearespotweldingandarcwelding.Thearcweldingrobotisaflexibleweldingsystemthatincludeskindsofarcweldingsupplementaryinstallation,notonlyamotorthatcarriestorchmovingwhichjustbytheplanningspeedandposture,thuswehavespecialrequesttoitscharacteristic.Intheweldingprocess,theweldingtorchshouldtracktheweldorbittomoveandformtheweldedjointbyfillingmetalconstantly.Therefore,thestabilityofspeedandtheprecisionofpatharetwoimportanttargets.Intheordinarycircumstances,theweldingspeedtakes5-50mm/sapproximatelyandthepathprecisiontakes±(0.2-0.5)mm.Themanipulatorofthedesignutilizesthemotor-drivenandthemicrocomputercontrolinordertoitscompactedstructure,spreadoperatingregion,flexiblemovement.Ithasthefeaturesthathighefficiency,novelandlight.Atthesametime,itremainsroomforthedistributedweightofthemanipulatorandbase.Besides,mydesignreducesthelaborintensityofthewelder,assurestheweldqualityandincreasestheweldefficiency.Asitsstructurehasthetypicalcaseoftheindustryrobots,wecanuseitsversatilitytoresearchtheordinaryrobot.Thatistosay,ithascertainstudyvalue.Keyword:robot,weld,manipulator,harmonicreducer目录III目录中文摘要.....................................................................................................................................I英文摘要....................................................................................................................................II1前言.........................................................................................................................................11.1焊接机器人的发展历程.............................................................................................11.2焊接机器人国内外应用现状.....................................................................................21.3国内外发展趋势.........................................................................................................31.3.1国外机器人领域近几年发展有如下几个趋势.............................................31.3.2国内机器人领域近几年发展有如下几个趋势.............................................41.4本课题要研究或解决的问题和拟采用的研究手段及途径.....................................52焊接机械手的总体方案设计.................................................................................................62.1总体设计思路.............................................................................................................62.2工业机器人概述.........................................................................................................92.3机器人基本技术参数...............................................................................................122.4各种驱动方式比较...................................................................................................133焊接机器人运动学方程.......................................................................................................154焊接机器人底座的设计.......................................................................................................194.1底座的工作方式.......................................................................................................194.2底座的电动机的选择...............................................................................................204.3底座上谐波齿轮传动的设计.............................................