摘 要
在现今我国大规模的生产制造产业中，企业为了降低成本，提高产品的生产效率以及产品的质量，大多数企业已经普遍重视产品生产过程的自动化程度，因此，工业长臂机器人组也随之诞生，成为自动化生产流水线上的一个重要成员，并逐渐被企业所认同并采用。工业长臂机器人组的整体性能以及在企业中的应用程度在一定的程度上也反映了一个国家在机械行业的发展水平。目前，工业长臂机器人组仅仅扮演了生产制造中抓取、搬运的角色，并在不能完全代替人的劳动，而且，现代的长臂机器人组只能做一些简单、单一而又固定的运动。
本文通过分析现代长臂机器人组的发展、结构组成（运动机构，驱动机构，控制机构），全面地讨论了直角坐标长臂机器人组的手部、臂部以及主体等主要部件的结构设计，其中包括机械部分的零部件（滚珠丝杠，轴承，步进伺服电动机，联轴器）的使用条件，结构设计，种类选取以及优、缺点的特点分析，基本参数的选定，计算与校核，以及安全性的分析。同时还进行了这个系统的装配及运动仿真。
最终实现的目的：实现控制系统对伺服步进电机的闭环控制；运用长臂机器人组的执行机构实现在三维空间的任意位置抓取；实现手部快速、准确并能够平稳有效的抓取工件；运用良好的传感装置和检测装置及时反映长臂机器人组所在空间位置。本课题设计做到尽量地缩小整个运动机构的占用空间，降低长臂机器人组的整体质量，并且达到低功耗、便维护、美外观、高灵敏、高精度等优点。
关键词：长臂机器人组；滚珠丝杠；步进电机；直角坐标
ABSTRCT
In China's large-scale manufacturing industry, in order to reduce costs, improve product production efficiency and product quality, most enterprises have generally attached importance to the degree of automation of product production process, so, The industrial long-arm robot group was born with it and became an important member of pipeline in automated production. And has gradually been recognized and adopted by enterprises. The overall performance of the industrial long-arm robot group and its application in the enterprise to a certain extent also reflects the level of development of a country in the machinery industry. At present, The industrial long arm robot group only plays the role of grabbing and handling in production and manufacturing, and is unable to do so Instead of human labor, modern long-arm robots can only do simple, single and fixed movements.
Based on the analysis of the development of the modern long arm robot group and the structural composition (motion mechanism, drive mechanism, control mechanism, etc.), the structural design of the hand, arm and main body of the long arm robot group with rectangular coordinates is discussed in this paper. These include the use conditions, structural design, selection of categories and characteristics of advantages and disadvantages of mechanical parts (ball screw, bearing, stepping servo motor, coupling), selection of basic parameters, calculation and verification, At the same time, the assembly and motion simulation of the system are carried out.
The purpose of the final realization is to realize the closed-loop control of the servo stepping motor by the control system, to use the actuator of the long-arm robot group to grasp the workpiece at any position in the three-dimensional space, to realize the fast, accurate and stable grasp of the workpiece in the hand; Using good sensing device and detecting device to reflect the space position of the long arm robot group in time. This subject is designed to minimize the space occupied by the whole motion mechanism, reduce the overall quality of the long arm robot group, and achieve low power consumption. Maintenance, beauty appearance, high sensitivity, high precision and other advantages.
Keywords: long arm robot group; ball screw; step motor; Cartesian coordinates
