摘 要
近些年,随着科学技术的高速发展,机器人技术已经成功应用于生活中的各个方面,在未来将扮演更重要的角色。码垛是随着物流产业的壮大逐渐发展起来的一项高新技术，其思想是把物品按照一定的规律码放在托盘上，从而能够使物品的存放、搬运、转移等活动变得单元化的操作，从而大大提高物流运输效率。码垛机器人已逐步代替人工码垛,但现阶段由于国内码垛机器人技术与国外的码垛机器人技术存在差距,导致国内相应企业多采用进口的码垛设备,因此,对码垛机器人臂部结构设计对于降低国内码垛机器人的成本和从提高工业生产效率有重大意义。
本文设计一种料袋码垛机械手的机械臂，该机械手通过底座固定在混凝土地面之上，其中底盘能够实现360度旋转，旋转机构主要是通过蜗轮蜗杆减速器实现减速并旋转，该机构能够实现自锁，当电机停止转动后能够实现位置的锁定，无需电机抱闸制动。旋转作业通过电机驱动一个拉杆实现，拉杆的强度相对较高通过铸铁加工成本较低，经济性较好。通过减速电机驱动齿轮，小齿轮与大齿轮啮合实现旋转。末端的抓取机构主要是通过气缸的伸缩实现抓取，采用气缸能够实现抓手的快速位移，保证高效的工作效率。进而设计出一种工作效率高、作业范围大、工作性能稳定的料袋码垛机器人臂部结构。
关键词：码垛；机械臂；抓取
Abstract
In this paper, a kind of manipulator arm of bag stacking manipulator is designed. The manipulator is fixed on the concrete ground through the base, in which the chassis can realize 360 degree rotation, and the rotating mechanism mainly realizes deceleration and rotation through the worm gear reducer. The mechanism can realize self-locking. When the motor stops rotating, it can realize position locking without motor brake. In the second section, the rotary operation is realized by driving a pull rod with a motor. The strength of the pull rod is relatively high, and the processing cost of cast iron is low, and the economy is good. In the third section, the reduction motor drives the gear, and the pinion engages with the big gear to realize rotation. The grabbing mechanism at the end mainly realizes grabbing through the expansion and contraction of the cylinder. The cylinder can realize the rapid displacement of the grab and ensure the efficient work efficiency. In this paper, the style of the moving structure is introduced in detail, the structure layout is designed, the main parts of the manipulator are designed, the strength ratio, the selection of the bearing, the structure design of the shaft and other parts are described in detail. In addition, the three-dimensional modeling of the manipulator is carried out through the three-dimensional software SW, and the two-dimensional CAD drawings are output.
Key words:Palletizing; mechanical arm; grabbing
目 录
第1章 绪论
1.1 研究背景及意义
1.2 国内外研究现状及其发展趋势
1.3 主要研究内容和方法
第2章 机器人总体方案设计
2.1机器人组成结构
2.2机器人整体结构图
第3章 机器人传动方案设计
3.1小臂处的传动方案和结构设计
3.2大臂传动方案
3.3腰身传动方案
3.4机械手大臂旋转轴的设计
第4章 机械臂分析和结构设计
第5章 总 结
参考文献
致 谢
