十字龙门式机器人的研究  

Research on the Gantry Assembly Robot

作　　者：张君 朱海涛[2] 谭定忠[2] 

机构地区：[1]大庆石油化工机械厂,黑龙江大庆163711 [2]哈尔滨工程大学机电学院,哈尔滨150001

出　　处：《机械工程师》2007年第1期116-118,共3页Mechanical Engineer

摘　　要：设计了一种用于装配作业的十字龙门式机器人,该机器人可用于工业生产上的精密化装配作业,能提高作业效率、减轻劳动强度。文中结合十字龙门式机器人的特点,完成了机器人的总体方案设计;然后根据技术要求,进行了机器人的总体结构设计、传动方案设计、驱动单元设计及传感器设计;确定方案后,又进行了传动丝杠、驱动电机及编码器的参数计算,从而对相应的部件进行选择。在对十字龙门式装配机器人的设计过程中,结合机器人的特点,设计了大刚度的龙门结构,大大提高了系统的刚度和精度。The gantry assembly robot designed in this paper is used for precise assembly in industry production. The robot used in automatic works can raise efficiency and reduce labor strength. The total project design is finished based on the characters of the gantry robot in this paper. The total structure, transmission project, driver unit and sensor design are finished according to the motion condition. The trapezoid screw, driver motor and encoder are computed and chosen According to the design project. In the design process of the gantry assembly robot, according to the characters of the robot, super stiffness gantry is designed in this paper, which can largely raise the accuracy of the system.

关 键 词：十字龙门式 装配 机器人 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]