1、 砖窑卸垛机器人本体的结构设计与优化 摘要：随着社会的发展需要，工业机器人已经渗透了我们的生活、工作和经济方面， 并且起到了很大的作用。本文首先简要介绍了工业机器人的概念，以及国内外的发 展状况。其次对砖窑的生产环境和工人工作环境做了简要的介绍，以及对卸垛机器 人本体的组成和分类，本体的自由度和坐标形式，气压传动技术的特点，进行了概 述。 通过对对砖窑卸垛机器人本体进行总体方案设计，确定了本体的坐标形式和自 由度，确定了本体的技术参数。同时，对本体结构上材料和部分零件进行了优化， 设计出了机械本体上的手臂和手腕结构，计算了手臂和手腕伸缩，升降，转动时所 需的驱动力矩和回转气缸的驱动力矩同时对本
2、体使用的气缸进行了计算并作出了 选择。本次设计是在于很好地把处于科技前沿的技术成功应用于新兴的码垛和卸跺 生产线，解放两百万的劳动人民，提高生产效率，可以达到利用新技术促进生产的 目的。 关键词：机器人本体；气压传动；结构设计；优化 Abstract: With the social development needs, industrial robots have infiltrated our lives, work and economic aspects, and has played a significant role. This article first introduces
3、the concept of industrial robots, as well as the development of domestic and foreign. Secondly, the production of brick kiln workers in the work environment and a brief introduction to the environment, as well as destocking composition and classification of the robot body, body, and coordinates in t
4、he form of freedom, the characteristics of air pressure drive technology, provides an overview. By pairs of the robot body kilns unshackling the overall design, to determine the coordinates of the body forms and degrees of freedom to determine the technical parameters of the body. Meanwhile, the structure of materials and some body parts were optimized designed the mechanical arm and wrist on the body structure, calculation of the arm and wrist stretching, lifting, driving torque required for
