柔性冲压生产线搬运机器人设计.doc

摘要 目前，工业已经广泛运用于的车间，搬运机器人在的生产线上随处可见。生产车间人工越来越缺乏而生产车间的强度也不断增强，而越来越工业机器人被运用到生产，其中常见的有机器人、弧焊机器人、点焊机器人等。中生产中的，机器人的运用大大提高。的国外来说，很缺乏需要不断的研究改进。我国在工业机器人的理论技术研究方面取得了傲人的成就，使得我国强者机器人的技术差距不断减小 本课题针对工厂的规模限制工厂中的数量不的现象，搬运机器人柔性生产冲压线将工序在同一机床加工。任务将位置的汽车冲压，搬运到冲压工作台上，在冲压将工件搬运到另一处指定地点。 冲压生产线的实际情况对机器人结构设计、材料的选择机器人具有的的确定关节设计，及各关节的。对机器人关节所需动力源的选择给出相关技术参数。所选择的机器人运动的为液压缸。液压缸驱动力材料的强度、刚度验证。机器人的初步方案。，已经设计好的尺寸绘图软件建模。机器人模型导入ADAMS，通过关系副的添加进行运动分析，得到其角速度速度的曲线验证其合理性 关键词工业机器人 The design of handling robot about flexible punch line Abstract：At present, industrial robot have been widely used in industrial machinery production workshop, the use of robot is more common. Due to the lack of labor is more and more common in production workshop, and the labor intensity is also growing., More and more industrial robots have been applied to production, which mainly are handling robot, welding robot, welding robot etc. Robot is the key equipment in the industrial .With the help of robot, the efficiency is improved. Compared with foreign robot, our robot in technology is behind them, so we have to do more and more research about this. However, recent years we have made great progress in technology, materials and design. We are on the way to catch up with eastern countries. The design is for solving the problem which are the lack of punching machine and limit size, so I have designed a flexible stamping production line composed by a robot, its main function is multiplying several process on a same machine tool. . Its main task is to specify the location of the car stamping die, moving to the stamping machine tool workbench, after the stamping is completed then, moved to another designated location. Firstly, choose the materials which is able to satisfy the stiffness and the strength in the actual situation. Also, I have design the structure of the machine. Next, do the job which is verifying the freedom and structure Secondly, the calculation and selection of the power source for the robot joints is given, and