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1、recovery and treatment in a timely manner. At the time of construction, should be taken to prevent dust and mud spill leak, measures such as the sewage outflow, vehicles stained with dirt, construction waste someone to clean up, to avoid polluting the environment 3.2 night arrangements of noise emit
2、ted by construction equipment, mixer noise emitted by machinery and equipment next to foam for noise control to prevent noise pollution of the surrounding environment. 3.3 construction managers and construction personnel, special operations personnel listing jobs, site operators, leaders, managers,
3、operators, wearing a helmet is divided into red, blue and yellow species. 3.4 site construction and companys comprehensive evaluation, check scores published examination results issued on a regular basis. 4, construction site environmental protection measures in order to protect and improve the livi
4、ng environment and the ecological environment, prevent construction and operation of pollution and nuisance, safeguard the health of residents and workers near the construction area, promoting the development of Socialist construction, environmental protection must be the construction site. 4.1 dail
5、y by the Deputy Project Manager, construction, safety officer for the afternoon the second comprehensive self test, where a violation of the provisions of the environment protection in construction site must be promptly identified and corrective action, made by construction workers on the day of the
6、 construction of the log on post records. 4.2 monthly by the Department of projects to be checked, according to the environmental protection in construction site inspection, evaluation criteria for inspection score, fill in the score sheet as the basis for site evaluation of safe production and civi
7、lized. During the inspection, do not meet the environmental requirements of the three (people, time, and measures) modification, implementation and review review the duties specified. 4.3 4.3.1 pollution prevention measures in construction site clean up rubbish, used motor vehicle shipments, no free
8、 air dispersion caused by dust. Construction of refuse to be cleaned up to a designated location, no feel free to pile up, cleaned up and when adequate water to reduce dust. 4.3.2 earthmoving construction site entrances and set the car wash, and arrange for someone to clean up tire, not wheel dirt i
9、nto other roads, affecting the city clean. 4.3.3 construction road construction site before construction ready plans and setting, make full use of red line layout, arrangement of temporary construction road, grass-roots energising, pavement paving the way Coke button, fine aggregate, and water at al
10、l times, reduce road dust. 4.3.4 construction when the protection of urban public facilities have been built, reasonable arrangements within the lot of construction organization, construction on the normal life of the residents and to minimize the impact of leisure. 4.3.5 easy cloud of fine material
11、We will continue to improve the companys internal control system, and steady improvement in ability to manage and control, optimize business processes, to ensure smooth processes, responsibilities in place; to further strengthen internal controls, play a control post independent oversight role of ev
12、aluation complying with third-party responsibility; to actively make use of internal audit tools detect potential management, streamline, standardize related transactions, strengthening operations in accordance with law. Deepening the information management to ensure full communication zero resistan
13、ce. To constantly perfect ERP, and BFS+, and PI, and MIS, and SCM, information system based construction, full integration information system, achieved information resources shared; to expand Portal system application of breadth and depth, play information system on enterprise of Assistant role; to
14、perfect daily run maintenance operation of records, promote problem reasons analysis and system handover; to strengthening BFS+, and ERP, and SCM, technology application of training, improve employees application information system of capacity and level. Humanistic care to ensure zero. To strengthen
15、ing Humanities care, continues to foster company wind clear, and gas are, and heart Shun of culture atmosphere; strengthening love helped trapped, care difficult employees; carried out style activities, rich employees life; strengthening health and labour protection, organization career health medic
16、al, control career against; continues to implementation psychological warning prevention system, training employees health of character, and stable of mood and enterprising of attitude, created friendly fraternity of Humanities environment. To strengthen risk management, ensure that the business of
17、zero risk. To strengthened business plans management, will business business plans cover to all level, ensure the business can control in control; to close concern financial, and coal electric linkage, and energy-saving scheduling, national policy trends, strengthening track, active should; to imple
18、mentation State-owned assets method, further specification business financial management; to perfect risk tube control system, achieved risk recognition, and measure, and assessment, and report, and control feedback of closed ring management, improve risk prevention capacity. To further standardize
19、trading, and strive to achieve according to law, standardize and fair. Innovation of performance management, to ensure that potential employees zero fly. To strengthen performance management, process control, enhance employee evaluation and levels of effective communication to improve performance ma
20、nagement. To further quantify and refine employee standards . Work, full play party, and branch, and members in five type Enterprise construction in the of core role, and fighting fortress role and pioneer model role; to continues to strengthening four good leadership construction, full play levels
21、cadres in enterprise development in the本科毕业设计(论文)题目：焊接机械手的结构设计系 别： 机电信息系 专 业：机械设计制造及其自动化班 级： 学 生： 学 号： 指导教师： 2013年5月recovery and treatment in a timely manner. At the time of construction, should be taken to prevent dust and mud spill leak, measures such as the sewage outflow, vehicles stained with d
22、irt, construction waste someone to clean up, to avoid polluting the environment 3.2 night arrangements of noise emitted by construction equipment, mixer noise emitted by machinery and equipment next to foam for noise control to prevent noise pollution of the surrounding environment. 3.3 construction
23、 managers and construction personnel, special operations personnel listing jobs, site operators, leaders, managers, operators, wearing a helmet is divided into red, blue and yellow species. 3.4 site construction and companys comprehensive evaluation, check scores published examination results issued
24、 on a regular basis. 4, construction site environmental protection measures in order to protect and improve the living environment and the ecological environment, prevent construction and operation of pollution and nuisance, safeguard the health of residents and workers near the construction area, p
25、romoting the development of Socialist construction, environmental protection must be the construction site. 4.1 daily by the Deputy Project Manager, construction, safety officer for the afternoon the second comprehensive self test, where a violation of the provisions of the environment protection in
26、 construction site must be promptly identified and corrective action, made by construction workers on the day of the construction of the log on post records. 4.2 monthly by the Department of projects to be checked, according to the environmental protection in construction site inspection, evaluation
27、 criteria for inspection score, fill in the score sheet as the basis for site evaluation of safe production and civilized. During the inspection, do not meet the environmental requirements of the three (people, time, and measures) modification, implementation and review review the duties specified.
28、4.3 4.3.1 pollution prevention measures in construction site clean up rubbish, used motor vehicle shipments, no free air dispersion caused by dust. Construction of refuse to be cleaned up to a designated location, no feel free to pile up, cleaned up and when adequate water to reduce dust. 4.3.2 eart
29、hmoving construction site entrances and set the car wash, and arrange for someone to clean up tire, not wheel dirt into other roads, affecting the city clean. 4.3.3 construction road construction site before construction ready plans and setting, make full use of red line layout, arrangement of tempo
30、rary construction road, grass-roots energising, pavement paving the way Coke button, fine aggregate, and water at all times, reduce road dust. 4.3.4 construction when the protection of urban public facilities have been built, reasonable arrangements within the lot of construction organization, const
31、ruction on the normal life of the residents and to minimize the impact of leisure. 4.3.5 easy cloud of fine materialof backbone backbone role; to full strengthening members youth work, full play youth employees in company development in the of force role; to improve independent Commission against co
32、rruption work level, strengthening on enterprise business key link of effectiveness monitored. , And maintain stability. To further strengthen publicity and education, improve the overall legal system. We must strengthen safety management, establish and improve the education, supervision, and evalua
33、tion as one of the traffic safety management mechanism. To conscientiously sum up the Olympic security controls, promoting integrated management to a higher level, higher standards, a higher level of development. Employees, today is lunar calendar on December 24, the ox Bell is about to ring, at thi
34、s time of year, we clearly feel the pulse of the XX power generation company to flourish, to more clearly hear XX power generation companies mature and symmetry breathing. Recalling past one another across a railing, we are enthusiastic and full of confidence. Future development opportunities, we mo
35、re exciting fight more spirited. Employees, let us together across 2013 full of challenges and opportunities, to create a green, low-cost operation, full of humane care of a world-class power generation company and work hard! The occasion of the Spring Festival, my sincere wish that you and the fami
36、lies of the staff in the new year, good health, happy, happy焊接机械手的结构设计摘要本设计为焊接机械手的结构设计，主要研究内容：腰部回转机构的设计；大、小臂和腕部回转的结构设计。本设计由整体布局入手，参考现有关节型机械臂的相关设计，初步确定腰部的转动惯量，从而确定电机的选型，安装等相关设计。在机械臂的灵活和精度的前提下完成总体结构的设计，然后根据总体结构，从而确定本设计的机械臂各个主要零部件的设计。在主要零部件的设计中，主要包括腰部壳体的设计、轴的结构设计、轴承的选择、电机的设计计算、大小臂的结构和固定等。本设计整体在现有关节型机械臂
37、的结构上做了修改，使得它能够更好的满足本设计的设计要求。本设计结构简单、重量轻、外形尺寸小、设备费用低、运转安全、操作方便、便于维修和管理。关键词：机械手；谐波减速器；结构设计IStructure design of robot armAbstractThe design for the design of welding structure of the manipulator, the main research contents: the design of the waist turning mechanism； structure design of large, small arm
38、 and wrist rotation.This design by the overall layout with reference to the relevant design, the existing joint type manipulator, preliminary determine the moment of inertia of the waist, so as to determine the motor selection, installation and other related design. Complete the design of the overal
39、l structure of the flexible manipulator based on precision and the next, and then based on the overall structure, design of mechanical arm to determine the design of all the major components of the.The design of the main components, including the housing design, structural design of shaft, bearing s
40、election, design and calculation of the size of motor, arm structure and fixed.The design of the whole made changes in the existing joint type manipulator structure, so that it can better meet the design requirement of this design. The design has simple structure, light weight, small size, low cost
41、of equipment, operation safety, convenient operation, easy to repair and management.KeyWords：robot arm；harmonic drive；structure design目 录1 绪论11.1 机器人简介11.1.1 机器人的发展及应用21.1.2 点焊机器人介绍及其研究意义41.1.3 机器人的组成61.2 机械手的组成81.3 本文主要研究工作112 机械手的总体结构122.1 机械手总体结构的类型122.2 设计具体采用方案133 机械手腰部机座153.1 机械手腰部机座结构的设计153.2
42、 机械手腰部机座设计的具体采用方案153.3 电动机的选择163.4 减速器的选择173.5 键的选择184 机械手手臂的结构设计204.1 设计具体采用方案214.2 大臂电动机的选择214.3 大臂减速器的相关计算224.4 小臂电动机的选择234.5 小臂减速器的相关计算245 机械手腕部的结构方案设计275.1 腕部电动机的选择275.2 腕部减速器的选择276 轴承的选用与校核297 结论39参考文献40致谢41毕业设计（论文）知识产权声明42毕业设计（论文）独创性声明43132 机械手的总体设计图纸和说明书联系QQ25766365382 机械手的总体结构2.1 机械手总体结构的类型
43、工业机器人的结构形式主要有直角坐标结构，圆柱坐标结构，球坐标结构，关节型结构四种。各结构形式及其相应的特点，分别介绍如下: a. 直角坐标机器人结构 直角坐标机器人的空间运动是用三个相互垂直的直线运动来实现的。为了实现一定的运动空间，直角坐标机器人的结构尺寸要比其他类型的机器人的结构尺寸大得多。直角坐标机器人的工作空间为一空间长方体。直角坐标机器人主要用于装配作业及搬运作业，直角坐标机器人有悬臂式，龙门式，天车式三种结构。 b. 圆柱坐标机器人结构圆柱坐标机器人的空间运动是用一个回转运动及两个直线运动来实现的。这种机器人构造比较简单，精度还可以，常用于搬运作业。其工作空间是一个圆柱状的空间。
44、c. 球坐标机器人结构球坐标机器人的空间运动是由两个回转运动和一个直线运动来实现的。这种机器人结构简单、成本较低，但精度不很高。主要应用于搬运作业。其工作空间是一个类球形的空间。 d. 关节型机器人结构 关节型机器人的空间运动是由三个回转运动实现的。关节型机器人动作灵活，结构紧凑，占地面积小。相对机器人本体尺寸，其工作空间比较大。此种机器人在工业中应用十分广泛，如焊接、喷漆、搬运、装配等作业，都广泛采用这种类型的机器人19。本题目规格参数:腰部回转最大角度280度；摆动最大角度120度；工作范围范围0-450mm； 本机械手的主要动作是：首先腰部回转机械臂和焊点处于同一平面；接着大臂回转，调整
45、焊枪和焊点的距离；然后小臂回转，使焊枪接触焊点；最后腕部回转，使焊枪和焊点垂直，达到焊接的目的。2.2 设计具体采用方案具体到本设计，因为焊枪质量约0.5KG，且考虑到焊接机械手的加工精度，应尽量简化结构，以减小成本、提高可靠度。该机械手在工作中需要四种运动,腰部回转；大臂回转；小臂回转；腕部回转。综合考虑，机械手自由度数目取为四。因此选择关节型机械臂。具体到本设计，要求工作区间0-450mm，扩大到0-60mm，为扩大1/3倍。因为A2+b22ab。所以当c一定时，a=b机械臂为最短。6002=2a2。A424.3，又因为小臂比大臂更灵活，活动更频繁，所以初始取a（大臂）=500mm；b（小
46、臂）=400mm；c（腕部）=100mm。整体布局如图：图2.1 整体尺寸设计图 本设计的三维建模基于solidworks。首先进行腰部回转机构的结构设计，再进行大臂摆动机构的设计，然后进行小臂摆动机构的设计，最后进行腕部的设计。在所有设计完成之后，整体的效果如下图所示：图2.2 设计完成整体图3 机械手腰部机座3 机械手腰部机座3.1 机械手腰部机座结构的设计进行了机械手的总体设计后，就要针对机械手的腰部、大臂、小臂、腕部等各个部分进行详细设计。机械手腰座结构的设计要求：工业机器人腰座，就是圆柱坐标机器人，球坐标机器人及关节型机器人的回转基座。它是机器人的第一个回转关节，机器人的运动部分全部
47、安装在腰座上，它承受了机器人的全部重量。在设计机器人腰座结构时，要注意以下设计原则： a. 腰座要有足够大的安装基面，以保证在工作时整体安装的稳定性。 b. 腰座要承受机器人全部的重量和载荷，因此，机器人的基座和腰部轴及轴承的结构要有足够大的强度和刚度，以保证其承载能力。 c. 机器人的腰座是机器人的第一个回转关节，它对机器人末端的运动精度影响最大，在设计时要特别注意腰部轴系及传动链的精度与刚度的保证。 d. 腰部的回转运动要有相应的驱动装置，它包括驱动器（电动、液压及气动）及减速器。驱动装置一般都带有速度与位置传感器，以及制动器。 e. 腰部结构要便于安装、调整。腰部与机器人手臂的联结要有可
48、靠的定位基准面，以保证各关节的相互位置精度。要设有调整机构，用来调整腰部轴承间隙及减速器的传动间隙。 f. 为了减轻机器人运动部分的惯量，提高机器人的控制精度，一般腰部回转运动部分的壳体是由比重较小的铝合金材料制成，而不运动的基座是用铸铁或铸钢材料制成20。3.2 机械手腰部机座设计的具体采用方案腰座回转的驱动形式要么是电机通过减速机构来实现，要么是通过摆动液压缸或气压缸来实现，目前的趋势是用前者。考虑到腰座是机器人的第一个回转关节，对机械手的最终精度影响大，故采用电机通过减速机构驱动来实现腰部的回转运动。3.3 电动机的选择设两臂及手腕绕各自重心轴的转动惯量分别为JG1、JG2、JG3，JG4根据平行轴定理可得绕轴0的转动惯量为： （3.1）（3.2）m3=0.5kg；m2=5kg；m1=7kg；m0=7kg；设输出轴速度为所需时间；