A装配图
自助上下料机器人导轨的设计
摘要
自动上下料机器人属于工业机器人中的一种，节省人力并提高效率是工厂选择设备的第一要求。现代化设备对自动上下料机器人高精度、高速度、高刚度等有了更高的要求。
本文以自动上下料机器人导轨为研究对象，作为精密的仪器使用，机器人导轨在机器人系统之中的使用范围十分之广泛，是机器人结构常见的机构之一，通过精密传动，能够实现产品的精密移动，达到移动过程之中想要的精度。众导轨中直线滚动导轨具有反应灵敏、承载性能好、结构紧凑、易安装等优点，所以本设计采用滚珠丝杠来实现精密移动，配何直线导轨实现功能。
通过三维建模软件完成自动上下料机器人导轨的建模分析。使得本移动轨道在XY轴方向都能够实现精密传动，对“电机+滚珠丝杠”传动系统设计及导轨系统的其它附属零部件设计，通过电机带动滚珠丝杆将转动副转变成移动副实现传动，对关键零件进行有限元分析，对滚珠丝杆结构进行计算分析、选型，考虑到装配图物理特性，进行Motion分析，最后进行归纳总结，完成本课题的全部内容。
关键词：自动；上下料；机器人；导轨；设计
Abstract
The automatic loading and unloading robot is one of the industrial robots. Saving manpower and improving efficiency are the first requirements for the factory to select equipment. Modern equipment has higher requirements for high precision, high speed and high rigidity of automatic loading and unloading robot.
In this paper, the guide rail of the automatic loading and unloading robot is the research object. As a precision instrument, the robot guide rail is widely used in the robot system. It is one of the common mechanisms of the robot structure. Through the precise transmission, it can realize the precise movement of the product and achieve the desired precision in the moving process. The linear rolling guide rail has the advantages of sensitive response, good bearing performance, compact structure, easy installation, etc., so this design uses ball screw to achieve precise movement, with which linear guide rail to achieve the function.
Through three-dimensional modeling software to complete the modeling analysis of automatic loading and unloading robot guide rail. So that the moving track can achieve precision transmission in the XY axis direction. For the design of the "motor + ball screw" transmission system and other auxiliary parts of the guide rail system, the motor drives the ball screw to transform the rotating pair into the moving pair to realize transmission. For the key parts, the finite element analysis is carried out, and the structure of the ball screw is calculated, analyzed and selected, taking into account the physical assembly drawing Characteristic, carry on motion analysis, finally carry on the induction summary, complete the whole content of this topic.
Key words:Automatic; Loading and unloading; Robot; Guide rail; Design
目录
1引论1
1.1本课题研究的目的与意义1
1.2国内外研究现状与发展趋势1
1.3技术路线2
1.4本课题研究的内容3
2自动上下料机器人工作站总体设计4
2.1加工中心、机器人与导轨空间布局设计4
2.2机器人与导轨运动方案拟定6
2.3导轨关键结构设计6
3 X轴进给机构选型与校核10
3.1 X轴进给滚珠丝杆副的选择10
3.2校核11
3.3电机的选择13
4 Y轴进给机构设计计算15
4.1设计条件15
4.2滚珠丝杠设计15
4.3伺服电机的选择16
4.4导轨副的选型17
5运动仿真19
5.1 Motion分析19
5.2关键零件有限元分析22
6结语35
参考文献36
设计所包含文件
字数
导轨
箱体
底板
摘要
目录
