基于视觉检测的直角坐标机器人设计+CAD图纸
Cartesian coordinate robots based on Vision
Abstract: With the process of the society, modern factory machinery also more and more modernized. There is often a occasion that needs the machinery automatic detection in the assembly line. Machine vision can be measured automatically, such as some work in the unknown situation, it is necessary to the design of visual inspection with X-Y Cartesian coordinate robot. The design includes two important parts. First, the small rectangular coordinates of the robot mechanical structure design, including servo motor, belt , the belt wheel and rail options to achieve the X-Y rectangular coordinates of the straight-line robot control and operation; the second part of the image acquisition system design, including CCD cameras and image acquisition software design, and image processing methods . Visual inspection with X-Y Cartesian coordinate robot in accordance with its test results can be quickly displayed images, output data, issued an order, the executing agency can adjust the completion of its location, quality of screening data and other automated processes. Compared with the artificial vision, machine vision is the greatest advantage of accurate, fast, reliable, and high degree of digital information.
Keywords: Visual Inspection; Cartesian coordinate robot; servo motor
目录
1 引言 5
1.1 工业机械手简介 5
1.2 工业机械手的作用 5
1.3 工业机械手分类 6
1.3.1 按用途分 7
1.3.2 按驱动方式分 8
1.4 工业机械手组成 9
1.5 本设计的主要内容 9
2 直角坐标机械人的总体设计方案 10
2.1 直角坐标机器人概述 10
2.2 本设计直角坐标机器人的主要部件及运动 10
2.3 原始数据（主要参数） 10
2.4 工作形式的确定 10
3 手臂部分设计 13
3.1本设计主要零件组成 13
3.2单轴驱动器 13
3.2.1单轴驱动器的特征与主要类型 13
3.2.2单轴驱动器内的主要机械传动部件 14
3.3 同步带的选型 14
3.4 导轨的选用 16
3.4.1 本设计的选用 16
3.4.2 导轨的作用 16
3.4.3 导轨的设计要求 16
3.4.4 本设计的导轨特性 17
3.4.5 本设计导轨的刚度校核 18
3.4.6 本设计导轨的强度校核 19
3.5 驱动方式的选用 20
3.5.1 步进电机的原理 21
3.5.2 步进电机的特点 21