直角坐标式码垛机器人结构设计与性能分析毕业设计.doc

（ 题 目： 题 目：直角坐标式码垛机器人结构设计 及其性能分析 摘 要 直角坐标式码垛机器人在物流领域应用广泛，是重要的运输环节。其运输方式主要由空间和运输的物品决定。本次毕业设计设备用于配合传输带一次性搬运12箱总重72kg的物品，属于负载较轻的码垛机器人。码垛机器人为直角坐标式机器人，我采用龙门式导轨支撑，依靠交流伺服电动机驱动齿形带带动吸附式机械手实现机器人的运动。 齿形带传动造价低廉、不需润滑、维护容易、传动平稳、能缓冲吸振、可以在大的轴间距平稳工作。缺点是对载荷变动的吸收能力稍差，高速运转时有噪声。 这次直角坐标式码垛机器人机械手设计采用的是吸附式气动机械手，主要考虑与同步带传输配合，需要快速抓取与搬运，同时根据所搬运的物体为纸箱材料吸盘选取聚氨酯橡胶材料。 主要工作部分为导轨组件，导轨的设计以简单实用得以满足要求所设计。该导轨结构简单，可承受较重载荷。直线导轨副的设计是根据外部导轨尺寸和传动所承受的负载大小决定的。 直角坐标式码垛机器人设计是由四个交流伺服电动机分别驱动x，y，z三个轴的导轨，x轴导轨采用龙门式导轨，具体形状及工作原理会在正文中结合图形加以陈述。 关键词：直角坐标式；交流伺服电动机；真空吸附式机械手；齿形带传动 Abstract Cartesian coordinates robot palletizer is widely used in the field of logistics, that is the transport link important. The mode of transport is mainly determined by the space and the transport of goods. The graduation design of equipment used in conjunction with the transmission belt carrying 12 boxes of gross disposable 72kg items which belonging to a load of palletizing robot lighter. Palletizing robot Cartesian coordinate robot, I use the longmen rail support, the AC servo motor and the toothed belt make adsorption manipulator robot to move. Toothed belt transmission is cheap, no need of lubrication, easy maintenance, stable transmission, buffer the vibration, work steady in the long distance between shafts. It is the shortcomings of the load changes absorption ability is a bit poor and making a noise at high speed working. The Cartesian coordinate of palletizing robot manipulator was designed by using the adsorption type pneumatic manipulator, my main consideration and synchronous belt transmission with, quickly capture and handling and according to the moving objects for carton material sucker selected polyurethane rubber material. The main work part of the rail assembly, guide rail with dovetail groove guide selection of aluminum alloy materials. The guide rail is light weight, can bear heavier load, and the internal guide for selection of linear static pressure guide. Design of linear guide rail pair is based on ex