自助上下料机器人导轨的设计 摘要 自动上下料机器人属于工业机器人中的一种，节省人力并提高效率是工厂选择设备的第一要求。现代化设备对自动上下料机器人高精度、高速度、高刚度等有了更高的要求。 本文以自动上下料机器人导轨为研究对象，作为精密的仪器使用，机器人导轨在机器人系统之中的使用范围十分之广泛，是机器人结构常见的机构之一，通过精密传动，能够实现产品的精密移动，达到移动过程之中想要的精度。众导轨中直线滚动导轨具有反应灵敏、承载性能好、结构紧凑、易安装等优点，所以本设计采用滚珠丝杠来实现精密移动，配何直线导轨实现功能。 通过三维建模软件完成自动上下料机器人导轨的建模分析。使得本移动轨道在XY轴方向都能够实现精密传动，对“电机+滚珠丝杠”传动系统设计及导轨系统的其它附属零部件设计，通过电机带动滚珠丝杆将转动副转变成移动副实现传动，对关键零件进行有限元分析，对滚珠丝杆结构进行计算分析、选型，考虑到装配图物理特性，进行Motio
n分析，最后进行归纳总结，完成本课题的全部内容。 关键词：自动；上下料；机器人；导轨；设计 Abstract The automatic loadi
ng a
nd u
nloadi
ng robot is o
ne of the i
ndustrial robots. Savi
ng ma
npower a
nd improvi
ng efficie
ncy are the first requireme
nts for the factory to select equipme
nt. Moder
n equipme
nt has higher requireme
nts for high precisio
n, high speed a
nd high rigidity of automatic loadi
ng a
nd u
nloadi
ng robot. I
n this paper, the guide rail of the automatic loadi
ng a
nd u
nloadi
ng robot is the research object. As a precisio
n i
nstrume
nt, the robot guide rail is widely used i
n the robot system. It is o
ne of the commo
n mecha
nisms of the robot structure. Through the precise tra
nsmissio
n, it ca
n realize the precise moveme
nt of the product a
nd achieve the desired precisio
n i
n the movi
ng process. The li
near rolli
ng guide rail has the adva
ntages of se
nsitive respo
nse, good beari
ng performa
nce, compact structure, easy i
nstallatio
n, etc., so this desig
n uses ball screw to achieve precise moveme
nt, with which li
near guide rail to achieve the fu
nctio
n. Through three-dime
nsio
nal modeli
ng software to complete the modeli
ng a
nalysis of automatic loadi
ng a
nd u
nloadi
ng robot guide rail. So that the movi
ng track ca
n achieve precisio
n tra
nsmissio
n i
n the XY axis directio
n. For the desig
n of the "motor + ball screw" tra
nsmissio
n system a
nd other auxiliary parts of the guide rail system, the motor drives the ball screw to tra
nsform the rotati
ng pair i
nto the movi
ng pair to realize tra
nsmissio
n. For the key parts, the fi
nite eleme
nt a
nalysis is carried out, a
nd the structure of the ball screw is calculated, a
nalyzed a
nd selected, taki
ng i
nto accou
nt the physical assembly drawi
ng Characteristic, carry o
n motio
n a
nalysis, fi
nally carry o
n the i
nductio
n summary, complete the whole co
nte
nt of this topic. Key words:Automatic; Loadi
ng a
nd u
nloadi
ng; Robot; Guide rail; Desig
n 目录 1引论1 1.1本课题研究的目的与意义1 1.2国内外研究现状与发展趋势1 1.3技术路线2 1.4本课题研究的内容3 2自动上下料机器人工作站总体设计4 2.1加工中心、机器人与导轨空间布局设计4 2.2机器人与导轨运动方案拟定6 2.3导轨关键结构设计6 3 X轴进给机构选型与校核10 3.1 X轴进给滚珠丝杆副的选择10 3.2校核11 3.3电机的选择13 4 Y轴进给机构设计计算15 4.1设计条件15 4.2滚珠丝杠设计15 4.3伺服电机的选择16 4.4导轨副的选型17 5运动仿真19 5.1 Motio
n分析19 5.2关键零件有限元分析22 6结语35 参考文献36