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