摘要：在机器人领域，如今对于生产技术的要求越来越复杂，工业机器人突破单一功能的限制实现多功能也是必然趋势之一。单纯在价格上便于推广的机械臂形式机器人，由于功能单一而导致局限性加大，已日渐不能满足现代化的高速生产需求，因此具备多功能化的高自由度工业机器人产品将成为未来工业机器人发展的主流态势。

等离子切割借助于带有高热量的高温等离子电弧切割工件表面，使其在高温状态下熔化，以形成工整的切口的一种加工方式。在切割金属材料时，相对于其他方式速度更快，切割面更加整齐完整，由于热影响区小故极少产生热变形。上下料机器人结构较简单，且可以大大提高工作效率，亦可以在许多工种下被应用来达到生产高效的目的，对于使用者来说可以大大加快生产线的运作，提高生产能力的时候大大降低产线工人的劳动强度。

本计划将上料与等离子切割相结合，设计一款等离子切割及上料多用途工业机器人，在实现等离子切割的同时增加工业机器人的多功能化，大大提升了设备在成本及工业用途上的竞争实力，必定会由于生产要求的提高而赢得更大的市场。

本设计根据国内外现有机器人使用情况，分析研究机器人工作中的负载受力，选择适当的电机以及设计相应的减速器满足运动要求，并进行校核计算其使用过程中的寿命情况。

关键词：等离子切割；上料机器人；多用途机器人；机器人设计

Plasma cutting and feeding multi-purpose industrial robot design

Abstract：In the field of robotics, the requirements for production technology are becoming more and more complex. It is an inevitable trend that industrial robots break through the limitations of single functions and achieve multi-function. Robotic arm robots that are easy to popularize on price alone, due to their limited functionality, have become increasingly limited in their ability to meet modern high-speed production requirements. Therefore, a multi-functional high-degree-of-freedom industrial robot product will become the future development of industrial robots. The main trend.

Plasma cutting uses a high-temperature, high-temperature plasma arc to cut the surface of a workpiece and melt it at a high temperature to form a neat cut. When cutting metal  materials, the cutting surface is more complete and tidy than other methods. Since the heat affected area is small, thermal deformation is rarely generated. The structure of the loading and unloading robot is relatively simple, and it can greatly increase the work efficiency. It can also be applied in many types of work to achieve the purpose of efficient production. The user can greatly speed up the operation of the production line and greatly reduce the production line when increasing the production capacity. Labor intensity of workers.

The plan will combine feeding and plasma cutting to design a plasma cutting and feeding multi-purpose industrial robot, increase the versatility of industrial robots while achieving plasma cutting, and greatly increase the competitiveness of equipment in cost and industrial applications. The strength will surely win a bigger market due to the increase in production requirements.

This design is based on the existing use of robots at home and abroad, analyzes and studies the load of the robot in the work, selects the appropriate motor and design the corresponding reducer to meet the movement requirements, and carries out the calibration and calculation of the service life in the process.

Keywords：Plasma cutting; loading robot; multi-purpose robot; robot design

目  录

1. 绪论 ... 1

 1.1 课题的背景与意义 .... 1

 1.2 国内外等离子切割及上料多用途工业机器人介绍 .. 1

    1.2.1 国外等离子切割及上料多用途工业机器人历史及现状 .... 2