摘 要
在当今轮毂制造业中，企业为提高生产效率，保障产品质量，普遍重视生产过程的自动化程度，工业机器人作为自动化生产线上的重要成员，逐渐被企业所认同并采用。工业机器人的技术水平和应用程度在一定程度上反映了一个国家工业自动化的水平，目前，工业机器人主要承担着焊接、喷涂、搬运以及堆垛等重复性并且劳动强度极大的工作，工作方式一般采取示教再现的方式。
本文设计和研究了一个六自由度的工业机器人，用于生产线的进送料和装配。首先，本文对生产线布局进行改造设计，提高生产的工作效率，然后，根据设计要求设计了机器人的整体方案和具体的机械结构，选择了合适的传动方式、驱动方式，设计了机器人的底座、大臂、小臂和手部的结构；并且对机器人的传动结构进行设计，机器人为六自由度关节型机器人，全部采用转动关节，关节处采用电机，减速机，齿轮传动机构，蜗轮蜗杆传动机构来实现各个自由度，从而实现所需的运动。在此基础上，本文将设计该机器人的控制系统，采用PC+DSP运动控制卡的控制方式，确定了控制系统的总体方案，设计了PCI 总线接口电路和DSP。
关键词: 六自由度工业机器人；生产线；结构设计；控制系统；
I
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II
Abstract
In the modern large-scale manufacturing industry, enterprises pay more attention on the automation degree of the production process in order to enhance the production efficiency, and guarantee the product quality. As an important part of the automation production line, industrial robots are gradually approved and adopted by enterprises. The technique level and the application degree of industrial robots reflect the national level of the industrial automation to some extent, currently, industrial robots mainly undertake the jops of welding, spraying, transporting and stowing etc. , which are usually done repeatedly and take playback way.
In this paper ,I will design an industrial robot with six DOFs.First, I will transform line layout and design the structure of the baseto improve the work efficiency of production ,and then, according to the design requirements ,I design the robot mechanical structure of the overall plan and specific ,and chose the right means of transmission and drive mode,Then ,I design the big arm, the small arm and the end manipulator of the robot,and I design the transmission structure, This robot is a 6-DOF joint robot,These joints are all rotary joints, joints used motor, reducer, gear transmission, worm gear and worm drive mechanism to realize various degrees of freedom, so as to achieve the required movement.On this basis, this paper will design the control system of the robot, which controlled by PC and DSP motion control card, and determine the overall scheme of the control system, design DSP and PCI bus interface circuit .
Keywords: 6-DOF industrial robot, line layout , structure design, the control system
目 录
摘 要 .................................................................................................................... I Abstract ............................................................................................................. II 第1章 绪 论 .................................................................................................5
1.1 课题背景及研究的目的和意义 .................................................................5 1.2 国内外在该方向的研究现状及分析 .........................................................6 1.3 本文的主要研究内容 .................................................................................9
第2章 生产线布局及总体方案的确定 .................................................9
2.1 生产线布局方案 .........................................................................................9 2.1.1 机械手 ..................................................................................................9 2.1.2 工作流程 ............................................................................................10 2.1.3 方案预期达到的目标 ........................................................................ 11 2.2 总体方案的设计 ....................................................................................... 11 2.2.1 机构的选型 ...................................................................................... 11 2.2.2 驱动方式的选择 ..............................................................................12 2.2.3 传动方案的选择 ..............................................................................13 2.2.4 总体结构方案设计 .........................................................................14 2.2.5 控制方案的设计 ..............................................................................16 2.2.6 技术参数列表 ..................................................................................17 2.3 本章小结 ...................................................................................................18
第3章 结构的设计 ......................................................................................18
3.1 引言 ...........................................................................................................18 3.2 电机力矩的计算以及驱动电机的选择 ...................................................19
3.3 减速器的设计 .........................................................................................20 3.4 腰部的设计 .............................................................................................21
3.5 手臂的设计 .............................................................................................21 3.5.1手臂的设计基本要求 .........................................................................21 3.5.2大臂和小臂 .......................................................................................22 3.5.3连杆 ....................................................................................................23 3.6 手腕部的设计 .........................................................................................23 3.7 末端执行器的设计 .................................................................................23 3.8 本章小结..................................................................................................25
第4章 传动系统的设计及校核 ............................................................26
4.1 腰部蜗轮蜗杆设计及校核 ....................................................................26 4.2 腕部传动系统设计及校核 ....................................................................26 4.2.1传动方案 ...........................................................................................26 4.2.2齿轮的设计及校核 ...........................................................................26 4.2.2.1齿轮组设计 ................................................................................26 4.2.2.2 直齿圆锥齿轮的设计 .................................................................26 4.2.3 轴的设计 ............................................................................................26 4.3 本章小结 ...................................................................................................28
第5章 控制系统设计 .................................................................................28
5.1 引言 ...........................................................................................................28 5.2 控制系统的设计 .......................................................................................28 5.2.1 控制系统的类型选择 ........................................................................28 5.2.2 控制系统的硬件电路 ........................................................................29 5.3 PCI的接口设计 ........................................................................................29