工业机器人滑台加工作业仿真

摘要

从20世纪中叶工业机器人技术出现以来，工业机器人机床给机械制造业带来了革命性的变化。工业机器人加工具有如下特点：加工柔性好，加工精度高，生产率高，减轻操作者劳动强度、改善劳动条件，有利于生产管理的现代化以及经济效益的提高。工业机器人机床是一种高度机电一体化的产品，适用于加工多品种小批量零件、结构较复杂、精度要求较高的零件、需要频繁改型的零件、价格昂贵不允许报废的关键零件、要求精密复制的零件、需要缩短生产周期的急需零件以及要求100%检验的零件。工业机器人机床的特点及其应用范围使其成为国民经济和国防建设发展的重要装备。

本设计对工业机器人机床的滑台加工作业部分进行了研究，报告了对我国工业机器人机床的原理进行了分析。

关键词：工业机器人机床；工业机器人滑台加工作业；丝杠

Since the emergence of industrial robot technology in the middle of the 20th century, industrial robot machine tools have brought revolutionary changes to the mechanical manufacturing industry. The industrial robot machining has the following characteristics: good flexibility, high machining precision, high productivity, reducing the labor intensity of the operator, improving the working conditions, which is conducive to the modernization of production management and the improvement of economic benefits. Industrial robot machine tool is a kind of high mechanical and electrical integration product, which is suitable for machining many kinds of small batch parts, which have complicated structure and high precision requirements, which need frequently modified parts, and which are expensive and not allowed to be scrapped. Parts that require precision copying need to be shrunk Short production cycle for badly needed parts and 100% inspection required. The characteristics and application scope of industrial robot machine make it an important equipment for the development of national economy and national defense construction.

This design has studied the working part of the slide table of the industrial robot, and reported the principle of the industrial robot machine in China.

Keywords:industrial robot machine tool; industrial robot slide processing operation; lead screw

摘要I

ABSTRACTII

引言1

1工业机器人滑台加工作业的结构设计和设计方案2

1.1工业机器人滑台加工作业的结构设计2

1.2工业机器人滑台加工作业的总体设计方案2

2滚珠丝杠副的计算3

2.1滚珠丝杠副支撑方式的选择3

2.2丝杠导程P的确定3

2.3承载能力校核3

2.3.1切削力的计算3

2.3.2摩擦阻力F1的计算4

2.3.3承载能力校核4

2.3.4确定允许的最小螺纹底径5

2.3.5初步确定滚珠丝杠副的规格代号6

2.3.6确定滚珠丝杠副预紧力6

2.3.7行程补偿值与与拉伸力7

2.3.8确定滚珠丝杠副支承用的轴承代号、规格7

2.3.9滚珠丝杠副工作图设计8

2.3.10传动系统刚度9

2.3.11刚度验算及精度选择11

2.3.12验算临界转速13

3交流伺服电机选择计算15

3.1计算折算到电动机轴上的负载惯量15

3.2计算折算到电机轴上的负载力矩15

3.3计算电动机轴上的加速力矩Tap16

3.4计算横向进给系统所需要的折算导电剂轴上的各种力矩16

3.5选择驱动电动机的型号17

4工业机器人滑台加工作业仿真设计19

4.1导轨的设计19

4.1.1机床导轨的功用19

4.1.2导轨应满足的基本要求19

4.1.3导轨的选择20

4.1.4工业机器人机床常用的滑动导轨20

4.2滑鞍的设计21

4.3滚珠丝杠螺母副与电机的连接21

4.4联轴器的设计与选择21

4.4.1联轴器的作用21

4.4.2联轴器的结构原理及型号选择22

4.4.3联轴器型号的选择及其计算24

结论25

参考文献26

致谢27