基于UG的装箱机器人设计及其运动仿真毕业设计技术报告

毕 业 设 计 技 术 报基于UG的装箱机器人

设计及运动仿真

号： 110 业：机械设计制造及其自动化 级： 2015 年 06月

编号

告

课题名称：

学生姓名：学专班指导教师：

摘 要

随着科学技术的不断进步和社会的发展，人们期望更多的智能化设备来解放人类劳动。作为生产中的重要一环，产品装箱的自动化开始受到关注，于是装箱机器人便应运而生。

基于现代设计方法的思想,本文介绍了电动式装箱机器人的发展和应用,对装箱机器人的机械结构设计、三维参数化建模、虚拟装配进行了研究。使用UG工程软件的独特参数化建模技术，得到装箱机器人各所有零部件的实体的模型，从而实现参数化建模。运用虚拟装配技术来完成该装箱机器人所有零部件的虚拟装配，得出装箱机器人的虚拟数字模型。

通过设置参数进行仿真和结构优化,实现了装箱机器人整个运动过程的仿真，检验了所取方案及所建模型的合理性，验证了装箱机器人结构设计可行性。为以后的装箱机器人设计和改进提供了依据，具有一定的科研和社会效益。 关键词：装箱机器人 UG 虚拟装配 运动仿真

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ABSTRACT

With the constant progress of science and technology and the development of the society,people expect more intelligent equipment instead of manual labor.As an important link in production,product packing automation has began to be concerned.Therefore,the loading robots appeared.

According to the idea of modern design,this paper introduces the development and applications of electrical type loading robots,the structure of the machine is designed,three dimensional parameter modeling,virtual assembly and simulation of kinematics and dynamics are also studied in this paper.3D solid models of exchanging worktable dispenser’s parts are established by software UG,And parameter modeling is also achieved.Virtual assembly technology is used and the integral virtual assembly model of the dispenser is gained.

Setting the function parameters to do dynamic simulation as well as structural optimization,and realizes the loading robots' motion simulation of the entire movement, examined the scheme and the rationality of the model and verified the feasibility of the robot structure design,and provides basis for product design and improvement of the robots,have made a certain scientific research and social benefits.

Keywords: loading robots; UG; virtual assembly; motion simulation

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目 录

摘 要 ............................................................................................................................... I ABSTRACT ...................................................................................................................... II 第1章 绪 论 .................................................................................................................. 1

1.1 课题研究的来源及概况 .................................................................................... 1 1.2 虚拟仿真技术及其意义 .................................................................................... 1 1.3课题主要研究内容 ............................................................................................. 1 1.4 UG的发展现状 ................................................................................................... 2 1.5本章小结 ............................................................................................................. 3 第2章 装箱机器人整体方案设计 ................................................................................ 4

2.1装箱机器人设计方案 ......................................................................................... 4 2.2 方案的选择 ........................................................................................................ 4 2.3系统的通讯设计 ................................................................................................. 4 2.4本章小结 ............................................................................................................. 5 第3章 机器人零件结构和参数的的设计 .................................................................... 6

3.1机械手的设计 ..................................................................................................... 6

3.1.1抓手结构的设计 ....................................................................................... 6 3.1.2 爪片的设计 .............................................................................................. 7 3.2 车身的设计 ........................................................................................................ 7

3.2.1上车身的设计 ........................................................................................... 7 3.2.2下车身的设计 ........................................................................................... 8 3.2.3支板的设计 ............................................................................................... 9 3.3本章小结 ........................................................................................................... 11 第4章 装箱机器人的建模与虚拟装配

.................................. 12

4.1基于UG的参数化建模 .................................................................................... 12

4.1.1参数化设计概述 ..................................................................................... 12 4.1.2 参数化设计的主要实现途径 ................................................................ 12 4.1.3 装箱机器人关键零部件的设计与建模 ................................................ 12 4.2基于UG的虚拟装配技术 ................................................................................ 13 4.3装箱器人虚拟装配 ........................................................................................... 14 4.4本章小结 ........................................................................................................... 17 第5章 装箱机器人的运动仿真 .................................................................................. 18

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