摘 要機器人技術(shù)是機電一體化產(chǎn)品，碼垛機器人成為一個領(lǐng)先的研究課題。運用在不同領(lǐng)域，如機械，電子，信息理論，人工智能，生物學(xué)和計算機，知識等諸多領(lǐng)域的發(fā)展機械接頭端的設(shè)計，機器人也導(dǎo)致了這些學(xué)科的發(fā)展。碼垛型機器人是一種典型的機電一體化產(chǎn)品，工藝多碼垛運動的一個機械臂運動更多的領(lǐng)域進(jìn)行合作研究。機械，電子，信息理論，人工智能，知識和生物和計算機許多學(xué)科，但其發(fā)展的多機構(gòu)銜接所需組合碼垛也促成了這些學(xué)科的發(fā)展。本文采用在結(jié)構(gòu)設(shè)計上的 10KG 包裝袋碼垛機器人，并完成圖紙和零件圖總裝配圖。為機器人模型的要求被分析以估計電機的每個碼垛，充分的設(shè)得所需要的轉(zhuǎn)矩和功率。完成碼垛型機器人的程序設(shè)計，總體設(shè)計，結(jié)構(gòu)設(shè)計，運動學(xué)模型操盤分析，檢查，分析機器人模型，設(shè)計和生產(chǎn)機器人模型做的過程中強度的關(guān)鍵部件，繪制 3D 圖。關(guān)鍵詞：機械臂，結(jié)構(gòu)設(shè)計，10KG 包裝袋碼垛機器人，機械臂，電機1AbstractRobotics is a mechatronic products, palletizing robot into a leading research. Used in different fields, such as machinery, electronics, information theory, artificial intelligence, biology and computer knowledge, and many other developments in the field of mechanical coupling end design, the robot also led to the development of these disciplines. Palletizing robot is a typical mechatronic products, processes more than a hot arm palletizing motion movement more areas of collaborative research. Many disciplines mechanics, electronics, information theory, artificial intelligence, knowledge and biological and computer, but the development of its multi-agency convergence desired combination of stacking also contributed to the development of these disciplines.In this paper, the structural design of lightweight gypsum wallboard palletizing robot and complete drawings and part drawings assembly drawing. To require each robot model are analyzed to estimate the motor palletizing, full set was required torque and power. Complete palletizing robot programming, design, structural design, manipulator kinematics model analysis, inspection, analysis robot models, key components design and production process of doing robot model intensity, plotted in Fig. 3D.Keywords: arm, structural design, lightweight gypsum wallboard palletizing robot motor2目 錄摘 要 ................................................................................................................................................IIAbstract...............................................................................................................................................11 緒論...............................................................................................................................................31.1 課題的背景、來源及意義...................................................................................................31.2 碼垛機器人的發(fā)展進(jìn)程及發(fā)展趨勢...................................................................................31.3 課題的設(shè)計內(nèi)容...................................................................................................................42 總體方案設(shè)計...............................................................................................................................52.2 碼垛碼垛機器人工程概述..................................................................................................52.3 工業(yè)碼垛碼垛機器人總體設(shè)計方案論述..........................................................................52.4 碼垛機器人機械傳動原理..................................................................................................62.5 碼垛機器人總體方案設(shè)計..................................................................................................72.6 本章小結(jié)..............................................................................................................................83 碼垛機器人大臂部結(jié)構(gòu)...............................................................................................................93.1 大臂部結(jié)構(gòu)設(shè)計的基本要求..............................................................................................93.2 大臂部結(jié)構(gòu)設(shè)計................................................................................................................103.3 大臂電機及減速器選型....................................................................................................103.4 減速器參數(shù)的計算............................................................................................................113.5 承載能力的計算.................................................................................................................143.5.1 柔輪齒面的接觸強度的計算.................................................................................143.5.2 柔輪疲勞強度的計算.............................................................................................154 小臂結(jié)構(gòu)設(shè)計...............................................................................................................................204.1 手指的相關(guān)設(shè)計與計算....................................................................................................204.2 手爪結(jié)構(gòu)設(shè)計與校核........................................................................................................204.3 結(jié)構(gòu)分析............................................................................................................................214.4 計算分析.............................................................................................................................224.5 腕部設(shè)計............................................................................................................................234.5.1 手腕偏轉(zhuǎn)驅(qū)動計算.................................................................................................234.5.2 手腕俯仰驅(qū)動計算.................................................................................................324.5.3 電動機的設(shè)得.........................................................................................................32金陵科技學(xué)院學(xué)士學(xué)位論文 參考文獻(xiàn)4.6 小臂部結(jié)構(gòu)設(shè)計................................................................................................................334.7 小臂電機及減速器選型....................................................................................................334.7.1.傳動結(jié)構(gòu)形式的設(shè)得..............................................................................................344.7.2.幾何參數(shù)的計算......................................................................................................354.8 凸輪波發(fā)生器及其薄壁軸承的計算................................................................................354.8.1 柔輪齒面的接觸強度的計算..................................................................................364.8.2 柔輪疲勞強度的計算..............................................................................................364.9 軸結(jié)構(gòu)尺寸設(shè)計................................................................................................................384.10 軸的受力分析及計算......................................................................................................384.11 軸承的壽命校核............................................................................................................39總 結(jié).................................................................................................................................................42參考文獻(xiàn)...........................................................................................................................................43致 謝...............................................................................................................................................44