摘 要

焊接是现代制造业的关键技术之一，承担了大量的机械连接作业，提高焊接工种的技术水准对制造业的转型升级至关重要。与手工焊相比，自动化焊接技术不论在质量和成本上，还是效率和工作环境上都有明显的优势，因此机器人焊接是今后焊接技术发展的大势所趋，将大量取代现有点焊和弧焊的手工作业，加紧改进和研发焊接机器人技术非常重要。

本文设计了一种六自由度焊接机械手，主要完成了以下工作。在了解国内外机器人现状的基础上，运用机械原理和机械设计相关知识，进行了机械手臂和腕部关节的设计，确定了各关节的传动方案，并用UG软件画出了各零件图和装配图，简要介绍了机械手的路径规划。本设计提出的机械手作为完整的焊接机器人具有较强的实用性，为此类机械的改进提供了可取的方案，为工业设计者提供了理论参考、数据参考和设计参考，是整套机械手结构设计的一个总结。

关键词：焊接机器人 机械手关节 轴校核 结构设计

Abstract

Welding is one of the key technologies in the modern manufacturing industry, which are taking on a large number of mechanical connection operations, so improving the technical level of welding jobs on the transformation and upgrading of manufacturing is essential. Compared with manual welding, automated welding technology have obvious advantages, regardless of in quality and cost, or efficiency and the working environment, so the robot welding is development trend of welding technology in the future, which will replace the existing manual spot welding and manual arc welding a lot. It is important to step up the process of improving and developing welding robots.

This paper designs a six-degree-of-freedom welding robot, the following aspects of this work were completed. Based on the current situation of robot at domestic and abroad, the design of mechanical arm and wrist joint is carried out by using the principle of mechanical and mechanical design. The transmission scheme of each joint is determined. Using UG software to draw the parts and assembly drawings, a brief introduction to the robot's path planning. The design of the proposed robot as a complete welding robot has a strong practicality for the improvement of such machinery,which provides a desirable program for industrial designers to provide a theoretical reference, data reference and design reference, is the whole set of mechanical structure design In this paper, a six-degree-of-freedom welding robot is designed. Based on the current situation of robot at home and abroad, the design of mechanical arm and wrist joint is carried out by using the principle of mechanical principle and mechanical design. The transmission scheme of each joint is determined and UG software to draw the parts and assembly drawings, a brief introduction to the robot's path planning. The design of the proposed robot as a complete welding robot has a strong practicality for the improvement of such machinery, which provides a desirable program for industrial designers to provide a theoretical reference, data reference and design reference, is a summary of the whole set of mechanical structure design.

Key Words：Welding Robot；Robot joints；Axis check；Structural design

目录

第1章 绪论 1

1.1 设计的目的和意义 1

1.2 国内外焊接机器人发展现状 1

1.3 本设计的内容 2

第2章 本体结构设计 3

2.1设计原则及考虑因素 3

2.2臂部结构设计 4

2.3腕部结构设计 5

第3章 传动方案 6

3.1电动机的选择 6

3.2减速器的选择 7

第4章 尺寸参数的确定 8

4.1臂部的设计 8

4.2腕部的设计 11

第5章 各轴的校核 13

5.1校核的方法 13

5.2校核计算过程 14

第6章 UG结构仿真 18

6.1零件图 18

6.2装配图 24

6.3原理图 30

结论 33

体会 34

参考文献 35

致谢 36

1. 绪论

工业机器人在制造业中具有举足轻重的地位，是关键技术之一。今天，越来越多的制造工序采用工业机器人替代人工，这将是今后的大势所趋，因此改进工业机器人的工艺性能非常重要。工业机器人广泛用于焊接、搬运、喷涂和装配等工种，是自动化焊接的主要机械设备。焊接机器人能够进行各种焊接作业，包括点焊和弧焊等，和手工焊相比具有诸多优点，例如工作时间长、产品质量稳定、生产成本低、效率高和能各种工作环境等。

1.1 设计的目的和意义

焊接是通过加热或加压，使两工件产生原子间结合的加工工艺，是制造业中极为重要的工种之一^[2]。焊接分为手工焊和自动焊，手工焊接是传统的焊接方法，而自动化焊接则是利用机械设备对工件进行自动焊，期间操作者并不是直接进行焊接操作，而是通过控制机械设备进行焊接。与手工焊相比，机器人焊接确实具有相当明显的优势。焊接机器人技术已经成为制造业企业间的核心竞争之一，各企业都在提高自动化焊接的技术，在激烈的竞争中取得竞争优势。

在经济下行压力加剧，产业转型升级的任务非常紧迫的今天，制造业的竞争非常激烈。而手工焊的劣势太大，日益落后，导致企业效益不佳，各企业为了生存和发展，必须不断地提高装备水平，通过产业技术升级来降低生产成本、提高效率和产品的质量，从而获得竞争优势。