摘要在当今大规模制造业中，企业为提高生产效率，保障产品质量，普遍重视生产过程的自动化程度，工业机器人作为自动化生产线上的重要成员，逐渐被企业所认同并采用。工业机器人的技术水平和应用程度在一定程度上反映了一个国家工业自动化的水平，目前，工业机器人主要承担着焊接、喷涂、搬运、取件以及堆垛等重复性并且劳动强度极大的工作，工作方式一般采取示教再现的方式。本文将设计一台三自由度的工业机器人，用于给注塑机取出成品。关键词：机器人气缸注塑机结构设计AbstractInordertoenhancetheefficiencyofproductionandguaranteethequalityofproducts,moreattentionhasbeenpaidtotheautomationintheprocessofproductioninthemodernmanufacturingindustrywithlargescale.Therefore,industrialrobotsaregraduallyappprovedandadoptedbyenterprisesasanimportantpartintheautomationproductionline.Tosomeextent,thetechnicallevelandapplicationofindustrialrobotshavereflectedontheautomationlevelinnationalindustries.Atpresent,theymainlyundertakesuchjobsmostlyinplaybackwayaswelding,spraying,transportingtakingandstowing,whichareusuallydonerepeatedlywithhighworkstrength.Inthethesis,anindustrialrobotwiththreeDOFSwillbedesignedtoremovethefinishedmoldingmachine.Keywords:android;cylinder;injectionmachine;structuraldesign目录摘要..............................................................IAbstract...........................................................II第1章前言........................................................11.1机器人概述.................................................11.2机器人的历史、现状.........................................11.3机械手的组成和分类..........................................31.3.1机械手的组成...........................................31.3.2机械手的分类...........................................41.4机器人发展趋势.............................................6第2章机械手设计方案..............................................82.1机械手基本形式的选择.......................................82.1.1直角坐标型机器人......................................82.1.2圆柱坐标型机器人......................................82.1.3极坐标型机器人........................................82.1.4多关节机器人..........................................82.2驱动装置的选择.............................................92.2.1液压驱动.............................................102.2.2气压驱动.............................................102.2.3电动机驱动...........................................102.2.4气动机械手概述........................................112.2.4气动机械手概述........................................12第3章引拔设计...................................................133.1设计参数..................................................133.2方案设计..................................................133.3引拔机构结构设计..........................................133.3.1引拔气缸参数计算.....................................133.3.2附加导向杆机构设计...................................14第4章机械臂的设计...............................................164.1设计参数..................................................164.2方案设计..................................................164.3机械臂气缸的选用..........................................164.3.1预选气缸的缸径.......................................164.3.2预选气缸行程.........................................164.3.3验算缓冲能力.........................................174.3.4活塞杆长度的验算.....................
