摘 要
我国机器人研究开始于20世纪70年代，与发达国家相比起步稍晚，但随着近年我国产业结构调整升级不断深入和国际制造业中心向中国的转移，我国的机器人市场将进一步加大，市场扩展的速度也会进一步提高。过去3年来，我国机器人市场发展迅猛，年均增长超过40%，增长率居全球首位。在国内，工业机器人比较受青睐的就是机械手。机械手为各类新型电子部品的组装、器具制造加工技术。机器人细分到如：自动焊锡机器人、移动印刷机器人、自动打螺丝机器人、自动切割机器人、自动涂油机器人、自动点胶机器人等。
随着工业机器人技术不断发展壮大及人们生活水平的不断提高，文化生活日益丰富多彩，未来各种专业服务机器人和家庭用消费机器人将不断贴近人们的生活，其市场将繁荣兴旺，为此我将设计一款6轴智能服务机器人。本次设计的机器人是一种高精度的自动化机械，具有高度的灵活性以及平稳性。所以在设计中我们应当注意其结构工艺的合理性，在材料选择上应当使其具有高强度和轻便的特性。本论文主要对新型多功能6轴小型机器人的驱动方式及各轴的传动方案进行了设计，并对驱动运动的电动机进行了选型；在对其工作空间分析的基础上，对关键的零部件进行了受力分析及强度校核。
关键词： 6轴；机器人；结构；传动；受力；强度
Abstract
China's robot research began in the 1970s, and started a little later than developed countries. However, with the continuous deepening of industrial structure adjustment and upgrading in China and the transfer of international manufacturing centers to China in recent years, China's robot market will be further increased, the speed of market expansion will be further improved. Over the past three years, China's robot market has grown rapidly, with an average annual growth rate of more than 40%, ranking first in the world. In China, industrial robots are favored by robot manipulators. Manipulator for the assembly of all kinds of new electronic parts, apparatus manufacturing and processing technology. Robot subdivision to such as: automatic soldering robot, mobile printing machine A person, an automatic screw robot, an automatic cutting robot, an automatic oiling robot, an automatic glue dispensing robot, and the like.
With the development of industrial robot technology and the continuous improvement of people's living standards, the cultural life is becoming more and more colorful, and the future various professional service robots and household consumption robots will continue to be close to the people's life, and the market will flourish. To this end, I will design an intelligent service robot. The 6-axis small-scale robot is a high-precision automatic machine with high flexibility and stability. Therefore, in the design, we should pay attention to the rationality of its structure process, and should make it have high strength and light property on the material selection. In this paper, the driving mode and the axes of the new multi-functional 6-axis small-scale robot are mainly discussed. The design of the transmission scheme is carried out, and the motor of the driving motion is selected; on the basis of the analysis of the working space of the motor, the force analysis and the strength check of the key parts are carried out.
Key words:6-axis; robot; structure; transmission; stress; strength
