五自由度焊接机器人总体及大臂与腰部设计(2)

It is well known that the welding processing on one hand requires on skilled operational skills, rich practical experience and stable level of welding; on the other hand, welding is a work with poor working conditions, dust, and heat radiation and high-risk. The emergence of industrial robots first makes people naturally think of using it to replace the manual welding to reduce labor intensity. But also it ensures the welding quality and enhances the efficiency of welding.

The robot I designed is a DOF arc welding robot. The design statement mainly include design of robot's drive system and the its composition, the choice of motor, design of bevel gear and verification, the principle of harmonic reducer and its choice, wrist Check the Department of rotational axis, the choice of rolling bearings and its checking and so on.

KEY WORDS welding robot; profile belt transmission; harmonic reducer; 5-DOF

III

本科毕业设计（论文）通过答辩

目录

中文摘要 (Ⅱ)

英文摘要 (Ⅲ)

目录 (Ⅳ)

前言 (1)

1 绪论 (3)

2 毕业设计基本思路 (4)

2.1总体所涉及思路及内容 (5)

2.2设计传动方案 (5)

3 焊接机器人腰部与大部设计 (7)

3.1 腰部结构设计 (7)

3.1.1 电动机的选择 (7)

3.1.2 谐波减速器介绍及选择 (8)

3.1.3 轴的设计与校核 (10)

3.1.4 轴承的设计计算与核 (11)

3.1.5 齿轮设计计算与校核 (12)

3.2 大臂结构设计 (15)

3.2.1 电动机的选择 (15)

3.2.2 谐波减速器的选择 (15)

3.2.3 轴的设计与校核 (16)

4总结 (18)

参考文献 (19)

致谢 (20)

IV