發(fā)布時間：2018-08-12 19:21

【摘要】：工業(yè)機(jī)器人(Industrial Robot,IR)是用于工業(yè)生產(chǎn)環(huán)境的機(jī)器人總稱。在工業(yè)領(lǐng)域的應(yīng)用越來越廣泛,比如裝卸、噴涂、表面處理、測量、弧焊、點焊、包裝、裝配等,工業(yè)機(jī)器人已經(jīng)成為制造加工業(yè)的主力軍。工業(yè)機(jī)器人應(yīng)用于惡劣工作環(huán)境時,代替工作人員承受著惡劣環(huán)境的侵蝕,如加工所產(chǎn)生的強(qiáng)弧光、高溫、電磁干擾等,嚴(yán)重影響了其工作效率和使用壽命。機(jī)器人防護(hù)服應(yīng)運而生。但是當(dāng)今市場上雖有工業(yè)機(jī)器人防護(hù)產(chǎn)品,制作不規(guī)范,結(jié)構(gòu)隨意,大量面料堆疊、冗余。近年來學(xué)術(shù)上比較注重防護(hù)面料的研究,并取得一定成就,但是對于版樣的研究還停留在經(jīng)驗方面,缺乏系統(tǒng)的設(shè)計理論和科學(xué)的設(shè)計依據(jù)。如何建立科學(xué)系統(tǒng)的機(jī)器人防護(hù)服設(shè)計理論體系,實現(xiàn)工業(yè)化大批量生產(chǎn),稱為機(jī)器人防護(hù)服生產(chǎn)企業(yè)最大的難題。六軸關(guān)節(jié)型工業(yè)機(jī)器人是目前生產(chǎn)行業(yè)中最具代表性的機(jī)器人,結(jié)構(gòu)十分典型,通用性好。因此,對六軸關(guān)節(jié)型機(jī)器人防護(hù)服的研究和設(shè)計,對機(jī)器人防護(hù)服生產(chǎn)企業(yè)的產(chǎn)品設(shè)計和生產(chǎn)體系,企業(yè)發(fā)展具有積極意義。文章主要分為三個部分:(1)結(jié)合機(jī)器人結(jié)構(gòu)設(shè)計原理和市場調(diào)研研究機(jī)器人的靜態(tài)結(jié)構(gòu)特征和運動規(guī)律。對每個部位進(jìn)行分類,使用CAD、UG等軟件的測量工具,確定每個部位每個類別對應(yīng)的測量項目。分析六軸機(jī)器人動、靜態(tài)特征參數(shù)測量結(jié)果,發(fā)現(xiàn)和總結(jié)測量結(jié)果的規(guī)律,確定靜態(tài)松量的設(shè)計方法。(2)分析六軸機(jī)器人各個運動軸運動特征對版樣的影響,并提出運動伸長量的算法和對應(yīng)動態(tài)松量的設(shè)計方法。提出六軸機(jī)器人防護(hù)服設(shè)計原理,按照各部位分類先進(jìn)行模塊化設(shè)計,再進(jìn)行組合,完成整體設(shè)計。靜態(tài)部分依照外形特征映射出對應(yīng)版樣,針對動態(tài)特征參考衣袖的功能性設(shè)計進(jìn)行運動功能性優(yōu)化設(shè)計,尋求滿足六軸關(guān)節(jié)型機(jī)器人運動需求的防護(hù)服版樣設(shè)計方法。(3)制作樣衣,制定相應(yīng)的評價標(biāo)準(zhǔn),使用標(biāo)尺法對樣衣進(jìn)行評價,驗證版樣是否合理,對版樣進(jìn)行修正和驗證,完成版樣的優(yōu)化。
[Abstract]:Industrial Robot (IR) is a general name for robots used in industrial production environment. Industrial robots have become the main force in manufacturing and processing industry, such as loading and unloading, spraying, surface treatment, measurement, arc welding, spot welding, packaging, assembly and so on. When the industrial robot is used in the bad working environment, the workers are subjected to the erosion of the bad environment, such as strong arc, high temperature, electromagnetic interference, etc., which seriously affect its working efficiency and service life. Robot protective clothing came into being. But although there are industrial robot protection products in the market, the production is not standard, the structure is random, a large number of fabrics stacked, redundant. In recent years, academic attention has been paid to the research of protective fabrics, and some achievements have been made. However, the study of plate samples is still in the aspect of experience and lacks of systematic design theory and scientific design basis. How to establish a scientific and systematic theoretical system of robot protective clothing design and realize mass production of robot protective clothing is the biggest problem for robot protective clothing production enterprises. Six-axis joint industrial robot is the most representative robot in the production industry at present. It has a typical structure and good versatility. Therefore, the research and design of six-axis joint robot protective clothing is of positive significance to the product design and production system of robot protective clothing production enterprises and the development of enterprises. The paper is divided into three parts: (1) the static structure characteristics and motion law of the robot are studied in combination with the design principle of robot structure and market research. Each part is classified and the corresponding measurement items of each part are determined by using the measuring tools of CADU and other software. This paper analyzes the measurement results of dynamic and static characteristic parameters of six-axis robot, finds out and summarizes the law of measurement results, and determines the design method of static loosening. (2) the influence of motion characteristics of each axis of six-axis robot on the plate sample is analyzed. The algorithm of kinematic elongation and the design method of corresponding dynamic porosity are proposed. The design principle of six axis robot protective clothing is put forward. According to the classification of each part, the modular design is carried out first, then the combination is carried out to complete the whole design. The static part maps out the corresponding edition sample according to the shape characteristic, and carries on the movement function optimization design according to the dynamic feature reference sleeve function design, In order to meet the requirements of six-axis robot motion, the design method of protective clothing plate sample is sought. (3) make sample clothing, establish the corresponding evaluation standard, use the scale method to evaluate the sample clothing, verify whether the version sample is reasonable, modify and verify the plate sample. Complete the optimization of the version sample.
【學(xué)位授予單位】：東華大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TP242

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