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双臂 自动 机器人 结构设计 三维 PROE

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双臂式自动送料机器人结构设计摘要；铆接技术作为金属结构零件相互连接的方法，适用于铆钉连接、零件翻边、永久连接等，在五金工具、飞机制造维修、精密机械、汽车制造等行中应用广泛。本课题通过了解压铆机的工作原理及主要功能，分析目前常用送铆方式，提出双臂自动送铆机器人的自动送铆方案。中一臂主要为物料的抓取功能；另一臂主要完成送料功能。本文根据系统功能，设计各机构的结构形式；根据设计要求，确定设计参数。并且用三维软件进行三维实体建模，实现了运动仿真。这种双臂送料机构将克服普通送料机构的弊端，大大提高自动送料机构的生产效率，减少劳动成本，提高人身安全，保障生产质量。关键词：铆接；自动送料；机器人Design of Structure aboutArm Type Automatic Feeding RobotAbstract:Riveting as metal structural parts interconnected, has wildly used in rivet connection parts flanging, permanent connections, hardware and tools, aircraft manufacturing, maintenance, precision machinery, automobile manufacturing line and so on.Through extracting riveting machine works and the main function analysis commonly used to send riveting, the subject raise his arms to automatically send the automatic feed riveting riveting robot. One arm realize the function of materials crawl, the other arm to complete the feeding function.Based on system functionality, the structure of the agencies is designed according to design requirements, determine the design parameters. And by the use of 3D software, 3D solid modeling realize motion simulation. Such arms feed mechanism overcome the drawbacks of the ordinary feed mechanism and greatly improve the production efficiency of automatic feed mechanism, reduce labor costs, improve personal safety and pro