生产线装其配机器人手臂设计.doc

PAGE PAGE III 摘要 状配是产品生产的后续工序, 在制造业中占有重要地位, 在人力、物力、财力消耗中占有很大比例，所以为了节约装配时间，实现装配的自动化，装配机器人应运而生。本文介绍了装配机器人的设计过程，其中绪论中介绍了设计的背景和意义，还有简要的设计要求，然后根据设计要求先进行机器人的总体设计，接着针对每个部分进行了具体的结构设计，最后为该机器人设计了一套单片机控制系统。所设计的机器人为关节型机器人，自由度为六个；应用步进电机来驱动每个关节的运动；在减速器设计中应用了结构紧凑的谐波齿轮减速；在传动过程应用了同步带传动；机器人的控制系统为基于单片机STC89C52的控制步进电机的控制系统。 关键词：工业机器人；谐波齿轮减速；单片机控制；生产线 Abstract Assembly is a follow-up production processes in the manufacturing sector, which plays an important role in the manufacturing. It takes a large proportion in the consumption of human, material and financial, so in order to save assembly time, to achieve the automation of the assembly, the assembly robot came into being. This article describes the design process of the assembly robot. There are the background?and significance of the design in the introduction, which followed by?a brief? design requirements. And then it is described the overall?design of?the robot according to the requirements, and then the concrete?structure design. Finally,?a?microcomputer control system?for the?robot?is designed. The robot is articulated robot of 6 degrees of freedom. Stepper motor is applied in driving the movement of each joint. The harmonic gear is applied in the compact design. Timing belt is used in the transmission process. The control system which mainly controls the stepper motors is based on microcontroller STC89C52 Keywords : Industrial robots; harmonic gear; microcomputer control; production line 目录 TOC \o 1-3 \h \z \u HYPERLINK \l _Toc311794471 摘要 PAGEREF _Toc311794471 \h I HYPERLINK \l _Toc311794472 Abstract PAGEREF _Toc311794472 \h II HYPERLINK \l _Toc311794473 第1章 绪论 PAGEREF _Toc311794473 \h 1 HYPERLINK \l _Toc311794474 1.1装配机器人的概念 PAGEREF _Toc311794474 \h 1 HYPERLINK \l _Toc311794475 1.2工业机器人的分类 PAGEREF _Toc311794475 \h 1 HYPERLINK \l _Toc311794476 1.3工业机器人的基本结构 PAGEREF _Toc311794476 \h 2 HYPERLINK \l _Toc311794477 1.4装配机器人发展现状 PAGEREF _Toc311794477 \h 2 HYPERLINK \l _Toc311794478 1.5装配机