基于六轴关节型工业机器人的防护服研究与设计

发布时间：2018-08-12 19:21

【摘要】：工业机器人(Industrial Robot,IR)是用于工业生产环境的机器人总称。在工业领域的应用越来越广泛,比如装卸、喷涂、表面处理、测量、弧焊、点焊、包装、装配等,工业机器人已经成为制造加工业的主力军。工业机器人应用于恶劣工作环境时,代替工作人员承受着恶劣环境的侵蚀,如加工所产生的强弧光、高温、电磁干扰等,严重影响了其工作效率和使用寿命。机器人防护服应运而生。但是当今市场上虽有工业机器人防护产品,制作不规范,结构随意,大量面料堆叠、冗余。近年来学术上比较注重防护面料的研究,并取得一定成就,但是对于版样的研究还停留在经验方面,缺乏系统的设计理论和科学的设计依据。如何建立科学系统的机器人防护服设计理论体系,实现工业化大批量生产,称为机器人防护服生产企业最大的难题。六轴关节型工业机器人是目前生产行业中最具代表性的机器人,结构十分典型,通用性好。因此,对六轴关节型机器人防护服的研究和设计,对机器人防护服生产企业的产品设计和生产体系,企业发展具有积极意义。文章主要分为三个部分:(1)结合机器人结构设计原理和市场调研研究机器人的静态结构特征和运动规律。对每个部位进行分类,使用CAD、UG等软件的测量工具,确定每个部位每个类别对应的测量项目。分析六轴机器人动、静态特征参数测量结果,发现和总结测量结果的规律,确定静态松量的设计方法。(2)分析六轴机器人各个运动轴运动特征对版样的影响,并提出运动伸长量的算法和对应动态松量的设计方法。提出六轴机器人防护服设计原理,按照各部位分类先进行模块化设计,再进行组合,完成整体设计。静态部分依照外形特征映射出对应版样,针对动态特征参考衣袖的功能性设计进行运动功能性优化设计,寻求满足六轴关节型机器人运动需求的防护服版样设计方法。(3)制作样衣,制定相应的评价标准,使用标尺法对样衣进行评价,验证版样是否合理,对版样进行修正和验证,完成版样的优化。
[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.
【学位授予单位】：东华大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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