70kg工业机器人手臂、手腕结构设计毕业论文.doc

70kg工业机器人手臂、手腕结构设计 摘要 工业机器人是机器人的一种，由操作机、控制器、伺服驱动系统和检测传感器装置构成，是一种仿人操作自动控制，可重复编程，能在三维空间完成各种作业的机电一体化的自动化生产设备，特别适合于多品种，变批量柔性生产。机器人技术是具有前瞻性、战略性的高技术领域。国际电气电子工程师协会IEEE的科学家在对未来科技发展方向进行预测时提出了4个重点发展方向，机器人技术就是其中之一。工业机器人广泛应用在国防军事、医疗卫生、食品加工、生活服务等领域中，尤其是汽车制造业，是工业机器人应用最广泛的行业，几乎占到整个工业机器人的一半以上。 本文主要介绍了70kg工业机器人手臂及手腕的结构设计，包括电机的选择、齿轮的选用、R-V减速器简介、齿轮与轴承的强度校核以及臂膀减速箱体、手、手臂、手腕的结构设计等。 关键字：工业机器人、校核、R-V减速器、结构、设计、齿轮 THE STRUCTURE DESIGN OF 70KG INDUSTRIAL ROBOT’ARM AND ABSTRACT Industrial robot is a robot, it consists of a manipulator. Controller. Servo drive system and detection sensor device composition, it is a kind of humanoid operating automatic control, can repeat programming, can finish all kinds of assignments in three difficulties in authorship space the electromechanical integration automation production equipment, especially suitable for many varieties, become batch flexible production. Robotics is a forward-looking and strategic high-tech fields. The scientists of International Electrical and Electronics Engineers(IEEE) propose four key development directions in the prediction of technological development in the future. Robotics is one of them. Industrial robot widely used in defense of military, medicine and health, food processing and life service, such as areas. Especially for the manufacturing of automobiles, is the most widely used of industrial robots, accounting for almost to the industry for more than half of the industrial robots. This paper mainly describes the structure design of 70kg industrial robot’ arm and wrist. It includes the choice of motor, gear selection, brief introduction of R-V reducer, gear and bearing strength check and structure design of arms reduction box, KEYWORDS: industrial robots, checking, R-V reducer， structure, design, gear 目录 TOC \o 1-3 \h \z \u 前言 h 5 第一章 设计总述 h 7 §1.1 概述 h 7 §1.2 70kg工业机器人结构设计 h 9 §1.2.1 臂膀减速箱体结构设计 h 10 §1.2.2 手臂结构设计 h 11 §1.2.3 手腕结构设计 h 12 §1.2.4 手结构