摘  要

三自由度机器人又称通用自动三自由度机器人，是一种“独立”的可变程序的自动三自由度机器人。它是在五十年 代末期出现，近年来才迅速发展起来的重要自动化装置，现已成为实现工业自动化的一种重要手段。 三自由度机器人已应用在机械制造的多种工艺中以代替人工， 并成为机械加工人员所需掌握的生产工具。 近年来随着工业自动化的发展三自由度机器人逐渐成为一门新兴的学科，并得到了较快的发展。三自由度机器人广泛 地应用于锻压、冲压、铸造、焊接、装配、机加、喷漆、热处理等各个行业。总之，三自由度机器人是提高劳动生产率，改善劳动条件，减轻工人劳动强度和实现工业生产自动化的一个重 要手段，国内外都很重视它的应用和发展。

本机器人由机体，传送机构，动力源和控制装置四部分组成。其中机体由小车及本体等部分组成；传送机构主要由伸缩臂及抓紧机构所组成；动力源由液压驱动和机械驱动等形式构成。本课题的设计内容：设计一套用于装卸圆柱形金属零件的机器人；机构简单合理，实现机器人的前进、后退，手臂的伸缩、手臂的回转以及工件的夹持等功能；完成传动系统相关计算、切削力计算，工作台受力分析，各部件/零件强度、刚度计算等；完成总体结构设计、材质选择、回转系统设计、电动机或液压系统的选型等；完成装配图及相应的零件图。

关键词：三自由度；三自由度机器人；生产自动化

Abstract

The three-degree-of-freedom robot, also known as the universal automatic three-degree-of-freedom robot, is an “independent” variable program automatic three-degree-of-freedom robot. It is an important automation device which appeared in the end of 50 years and developed rapidly in recent years. It has become an important means to realize industrial automation. The three-degree-of-freedom robot has been used in a variety of mechanical manufacturing processes to replace artificial, and become the tool of production that machinists need to master. In recent years, with the development of industrial automation, three-degree-of-freedom robot has gradually become a new subject and has been developed rapidly. Wide Application of three-degree-of-Freedom Robot In forging, stamping, casting, welding, assembly, machining, painting, heat treatment and other industries. In a word, the three-degree-of-freedom robot is an important means to improve labor productivity, improve labor conditions, lighten workers’ labor intensity and realize industrial production automation, and attaches great importance to its application and development both at home and abroad.

The robot consists of a machine body, a conveying mechanism, a power source and a control device. Wherein the body is composed of a trolley, a body and the like; the conveying mechanism is mainly composed of a telescopic arm and a grasping mechanism; and the power source is composed of a hydraulic driving and a mechanical driving and the like. The design content of the subject is to design a set of robot for loading and unloading a cylindrical metal part, the mechanism is simple and reasonable, the advancing and retreating of the robot, the expansion of the arm, the rotation of the arm and the clamping of the workpiece are realized, the related calculation of the transmission system and the calculation of the cutting force are completed, Force analysis of working table, strength of each part/ part, calculation of rigidity, etc.; complete structural design , material selection, rotary system design, motor or hydraulic system selection, etc., complete assembly drawings and corresponding parts drawings.

Key words: three degrees of freedom; three degrees of freedom robot; production automation

目  录

摘  要 I

Abstract II

第1章 绪论 1

1.1课题研究背景及其意义 1

1.2三自由度机器人的发展与现状 1

1.3三自由度机器人的原理和介绍 3

1.4三自由度机器人目前存在问题 4

1.5三自由度机器人的力控制问题 4

1.6三自由度机器人的发展趋势 5

第2章 总体技术方案及系统组成 7

2.1原始数据 7

2.2工作要求 7

2.3系统组成 8

2.4总体技术方案 8

2.4.1 动作分析 10

2.4.2 手部 10

第3章 机器人的液压部分 11

3.1液压系统的工作原理 11

3.2液压传动的工作特性 11

3.3液压系统的组成 12

第4章 回转装置的总体设计 14

4.1执行件 14

4.2传递件 14

4.3驱动件 15

4.4控制系统 16

第5章 机械传动方案的设计与计算 17

5.1小车的主要组成部分 17

5.2同步带传动方式优缺点 17

5.3驱动动力源 18

5.4机械传动方案的设计计算 19

5.4.1设计数据确定 19

5.4.2同步带结构的设计计算 21

第6章 零件加工编程 27

6.1数控车床加工程序编制基础 27

6.2程序编制 28

总  结 39

参考文献 40

致  谢 41