摘要焊接在现代制造业中扮演着重要的角色，相对于传统的手工焊接，自动化焊接有着更高的生产效率、产品质量稳定性，以及良好的工作环境。本课题以焊接机器人为研究对象，设计了一款六自由度焊接机器人，并通过三维建模完成了模拟装配。论文主要完成了以下几个方面的工作：86944

首先，大量阅读国内外关于焊接机器人的资料，了解了一些研发现状以及发展趋势，并在借鉴国内外焊接机器人的基础上，根据任务书的要求以及机器人设计的理论，对焊接机器人的主要技术参数、结构选型、驱动方式合传动方案进行了设计；然后，利用Solidworks三维建模软件对机器人的各零件进行了初步设计，完成整机的装配，并在此基础上完成了电机、减速器的选型，蜗轮蜗杆的设计及校核，齿轮的设计及校核以及大臂的强度计算；最后，对机器人部分结构进行重新建模，并对大臂进行了有限元分析，改进了大臂的结构，优化了设计，最终完成整体的设计任务。

毕业论文关键词：焊接机器人；结构设计；选型；有限元；优化

Abstract Welding in the modern manufacturing industry plays an important role, compared with the traditional manual welding, automatic welding has a higher production efficiency and product quality stability, and the working environment page has a great improvement。In this paper, the welding robot is studied, a six degree of freedom welding robot is designed, and the simulation of the welding robot is completed。This paper mainly completed the following aspects of the work：

First, extensive reading at home and abroad about welding robot, to understand the some of the research and development status and development trend, and in reference to domestic and foreign welding robot based on, according to the task book requirements, as well as the robot design theory, of welding robot of main technical parameters, structure selection, driving way transmission scheme design；Then using 3D Modeling Software Solidworks to robot parts were preliminary design, assembly of the completion of the whole machine, and on this basis, completed the motor and reducer selection, worm and worm gear design and verification, design and check of the gear and arm strength calculation;Finally, the structure of the robot is modeled again, and the finite element analysis of the large arm is carried out。 The structure of the large arm is improved, and the design is optimized。 Finally, the overall design task is completed。

Keywords: Welding robot;Structure design;Model selection;Finite element analysis;Optimization

目录

第一章 绪论 1

1。1 引言 1

1。2课题概述 1

1。1。1课题来源 1

1。1。2课题研究背景及其意义 1

1。3 焊接机器人现状及其发展趋势 3

1。3。1 焊接机器人发展历程 3

1。3。2 焊接机器人的研究现状 3

1。3。3 焊接机器人的发展趋势 5

1。3。4 焊接机器人国内外应用现状 6

1。4 论文主要研究内容 6

第二章 焊接机器人的总体设计方案 7

2。1 引言 7

2。2 设计基准 7

2。2。1 设计原则 7

2。2。2 设计步骤