摘要在现今汽车等喷漆制造业中，喷漆机器人更加容易满足安全环保、高效和高质量等喷漆要求，因此，喷漆机器人作为自动化生产线上的重要成员，逐渐被企业所认同并应用。

    本文首先简要介绍了喷漆机器人的研究背景、意义和现状。接着，进行总体方案的设计论证，确定了关节型坐标形式，采用步进电机驱动，选择滚珠丝杠、链轮链条和锥齿轮三种传动方式，利用弹簧进行平衡，研究出合理的设计方案。最后，设计小臂系统，通过对小臂系统的受力分析，设计小臂和腕部结构，计算关节转动需要的力矩，选择并设计出符合要求的电机、滚珠丝杠、链轮、锥齿轮等，在确定各个零件和部件合理的安装位置后，完全实现小臂俯仰30度、腕摆110度和腕转110度的动作要求。47852

关键词  喷漆机器人  小臂系统  步进电机  弹簧平衡

毕业论文设计说明书外文摘要

Title    Painting Robot - Forearm Systems Design         

Abstract

n today's automotive and other paint manufacturing industry, spray paint robots more easily meet the requirements of safety, environmental protection, high efficiency and high quality，therefore， the painting robots as an important member in automated production lines have been gradually recognized and adopted.

This paper briefly describes the research background, the meaning and the current situation of the painting robot. Then, the paper gives the overall scheme of design, determines coordinates of the whole joint, uses a stepping motor to drive, selects a ball screw, chain sprockets and bevel gears three kinds of transmission type and use spring to balance so that work out a reasonable design programs. Finally, design and calculation of the arm system, through the stress analysis of the arm system in order to design the structure of forearm and wrist, calculate moment of force of the joint rotation, select and design to meet the requirements of the motor, ball screw, sprocket, cone gears, springs and so on. Determined the installation location of the various parts and components, so as to realize the movement requirements of arm pitch of 30 degrees, wrist swing of 110 degrees and the wrist twirl of 110 degrees.

Keywords  The painting robots  Forearm system  Stepping motor

目   次

1  引言 1

1.1  喷漆机器人研究背景和意义 1

1.2  喷漆机器人组成和特点 2

1.3  喷漆机器人国内、外研究现状 3

2  喷漆机器人总体方案的论证设计 5

2.1  喷漆机器人坐标形式的确定 5

2.2  喷漆机器人驱动方式的选择 6

2.3  喷漆机器人传动方式的选择 7

2.4  喷漆机器人平衡装置的设计 9

2.5  喷漆机器人工作空间的计算 10

3  喷漆机器人腕部设计 12

3.1  手腕偏转驱动设计 13

3.2  手腕俯仰驱动设计 24

4  喷漆机器人小臂系统设计 25

4.1  小臂俯仰驱动设计 25

4.2  小臂平衡装置设计 30

结  论