摘要

目前随着国内的劳动人口的下降和老龄化人口上升， 过去的廉价劳动力将不复以往，很多企业面临着人力成本上涨的危机。在物流自动化行业中，机器人码垛代替传统的人工码垛已成为一种趋势。本课题针对生产过程中的物料搬运，设计一款四自由度的连杆型码垛机器人的本体结构。

本文设计了一种四自由度的连杆型码垛机器人结构，包括腰座、底座、臂部、腕部等关键结构的详细机械设计。我们对驱动电机进行了计算选型，并对机器人进行了总体和关键部件设计。通过建立三维模型，我们成功地在Proe/Solidwork完成了三维建模及装配，并输出了四自由度的连杆型码垛机器人的装配图纸及关键部件的工程图纸。

关键词：码垛机器人；四自由度；连杆型结构；机械设计；三维建模；Solidwork；

Abstract

At present, with the decline of the domestic working population and the rise of the aging population, the cheap labor force in the past will disappear, and many enterprises are facing the crisis of rising labor costs. In the logistics automation industry, robot palletizing has become a trend instead of the traditional manual palletizing. This project designs the body structure of a four-degree-of-freedom linkage palletizing robot for material handling in the production process. This paper designed a four-degree structure of link-type robot, including detailed mechanical design of waist seat, base, arm and wrist.

We performed computational selection of the drive motor and the overall and key component design of the robot. By establishing the 3 D model, we successfully completed the 3 D modeling and assembly in Proe / Solidwork, and output the assembly drawings of the four-degree linkage stacking robot and the engineering drawings of key components.

Key words: palletizing robot; four degrees of freedom; link structure; mechanical design; 3 D modeling; Solidwork;