摘要：从上世纪末到21世纪初期，我国工业不断追赶发达国家，尤其是新工业行业：机器行业，随着新时代的工业机器人的需求多种多样，工业机器人的设计也随之多种多样，而工业机械手在一般制造业的工厂中的应用是非常的广泛，工业机器人的产生使得很多危险、复杂、费时的工作变的简单化，所以现在的工厂的产能和工作效率不断的提高，这是工业机械人、工业机器手所生产的十分重要的意义。此次课题主要是分拣系统中的机器人和输送机构设计，上料机器人机械手大体分为其拥有六个自由度的六个部分，主要由腰部的旋转，大臂的俯仰，中臂旋转、小臂上下运动，腕部的旋转和手抓切换组成的。零件通过离心机的离心力分开进入传送机构上，输送机构输送零件，在输送机构上的传感器检测工件再将信号发送至控制机构，控制机构控制机器人进行手抓切换和抓取的工作，最后由机器人进行抓取和分拣。本论文整体的设计思想是通过对实际问题的思考，再进行一步步的分析，最后才开始设计。设计的方法是先选型，再校核，校核通过再进行下一步，不通过则更改选型直至校核通过为止；校核结束后进行控制部分的设计。在手抓的部分采用设计两个手抓去取不同种类的工件通过电机进行转换手抓实现不同的手抓抓取功能。

关键词：分拣；机器人；输送机构；机构设计

Design of feeding robot and parts conveying mechanism in parts sorting system.

Abstract: From the 90s of last century of the last century to the twenty-first Century to modern, our industry kept catching up with the developed countries, especially the new industrial industries: the machine industry, with the demand of industrial robots in the new era, the design of industrial robots is perse, and the application of industrial robots in the factory of general manufacturing is very extensive. The emergence of industrial robots makes many dangerous, complex and time-consuming tasks simple. Therefore, the production capacity and work efficiency of the current factory are continuously improved, which is very important for the production of industrial robots and industrial robots. The main task is to design the robot and conveying mechanism in the sorting system, and the robot manipulator is pided into six parts with six degrees of freedom. It is mainly composed of the waist rotation, the pitch of the big arm, the rotation of the middle arm, the upper and lower arms, the rotation of the wrist and the hand grab. Parts through centrifuge on the centrifugal force to separate into the transport mechanism of transport institutions conveying parts, workpiece is detected by a sensor on the conveying mechanism and then send the signals to control mechanism, control mechanism to control the robot to switch from the finger and fetching work, finally to grab and sorting by robots. In this paper the overall design is based on the practical problems of thinking, again carries on the detailed design, design first, the selection of motor and reducer, and intensity of design agencies, to realize the effective and accurate control of the manipulator .In the grasp part, two hands are designed to grasp different kinds of workpieces to achieve different grasping and grasping functions by means of the motor.

Key words：Sorting; Robot; Conveying mechanism; Mechanism design

目录

1引言 7

2机器人发展状况 8

2.1国内机器人发展状况 8

2.1.1 国内机器人制作与销量 8

2.1.2 国内机器人分布地区 9

2.1.3 我国机器人劣势 9

2.1.4 中国机器人行业市场发展趋势与预测 9

2.2国外机器人发展状况 10

3方案分析并确立设计方案 12

3.1机器人结构分析 12

3.2 电机选择 13

3.3 减速器选择 14

3.4传感器选择 14

4机器人主要参数计算 16