摘 要

本论文针对焊接机械手的结构设计开展工作。此次设计焊接机械手具有五个自由度。运用电机驱动、微机操控，结构比较紧凑，可实现工作区间较大，动作灵活。焊接机械手可运用的范围很广泛，可实现大面积的生产。

焊接机器人在传统机械行业，焊接行业等都已经得到大范围运用。本次设计从整体出发，参考现有关节机械手的设计，在保证机械手整体精度的下初步确定大体方案，然后化整为零确定各个零部件设计。其中包括腰部回转设计，轴的设计，轴承和电机的计算选择等等。

关键词：焊接，机械手，工业机器人

Abstract

In this paper, the structure design of welding manipulator is carried out. The design welding manipulator with five degrees of freedom. The use of motor driven, microcomputer control, the structure is relatively compact, can achieve a larger working range, flexible action. Welding manipulator can be used in a wide range, can achieve a large area of production.

Welding robot in the traditional machinery industry, welding industry and so have been a large range of use. This design from the whole of the existing joint manipulator design reference, to ensure the overall accuracy of mechanical hand determined preliminarily the general scheme and digging determine design of each component. Including the waist rotary design, shaft design, bearing and motor calculation options, etc..

Key Words ：welding， manipulator ，Industrial robot

目录

第1章 绪论..................................................................................................................1

1.1焊接机械手的发展及国内外现状..................................................................1

1.2焊接机械手的特点..........................................................................................1

1.3焊接机械手的基本组成.................................................................................2

第2章 焊接机械手方案设计......................................................................................4

2.1焊接机械手腰部机座结构的设计..................................................................4

2.1.1焊接机械手底座运动的实现方式.........................................................4

2.1.2焊接机械手底座电机的选择.................................................................5

2.1.3焊接机械手底座谐波减速器的应用.....................................................5

2.1.4焊接机械手底座轴的设计.....................................................................6

2.1.5焊接机械手底座轴承的选择.................................................................6

2.2焊接机械手手臂结构的设计...........................................................................7

2.2.1焊接机械手手臂运动的实现方式.........................................................8

2.2.2焊接机械手手臂电动机的选择.............................................................9

2.2.3焊接机械手手臂谐波减速器的选择 ...................................................9

2.3焊接机械手手腕结构的设计.........................................................................10

2.3.1手腕的选择和要求...............................................................................10

2.3.2手腕的工作方式...................................................................................10

2.3.3电机的选择...........................................................................................11

2.3.4轴的强度校核.......................................................................................12

第3章 焊接机械手末端执行器的连接设计............................................................14

3.1焊枪与腕部的连接设计...............................................................................14

3.2送丝机的设计...............................................................................................15

1. 总结...............................................................................................................17

参考文献.....................................................................................................................18

致谢.............................................................................................................................19