基于图像的工件抓取直角坐标机器人设计+CAD图纸
毕业论文关键词 直角坐标机器人；机械手；视觉系统
Design of Cartesian coordinate robot based on Vision
Abstract: With the changes of the times, in today's industrial society, more and more developed, more and more tendency to use automation to replace the artificial. Therefore, automation equipment plays a very important role in today's society. The design using Cartesian coordinate robot vision system, it is a very practical, common machine in the industrial production. In this paper, the development situation of the robot and the related problems in recent decades are discussed, and the Cartesian coordinate robot were structure design, on the study and analysis of the problems encountered in the design process. In this design, in three directions of X, Y, Z using the linear motor to realize their movement, and the manipulator using the step motor and gear drive to control the opening and closing. In addition, the design also compares the selection of the visual system, to ensure the rationality of the design reliable, and high degree of digital information, and the design can be played as required.
Keywords: Cartesian coordinate robot; Manipulator; Visual Inspection
目录
1绪论 3
1.1 课题背景介绍 3
1.2 机器人的分类 3
1.3 中国机器人的发展 4
2 课题的基本内容 5
2.1 课题的任务内容 5
2.3 设计的技术要求 5
2.4 机器人外形图 5
3机械手的设计 6
3.1 传动方式的研究分析 6
3.2 驱动方式的研究分析 7
3.3 电机的研究分析 7
3.3.1电机的类型比较 7
3.3.2电机的计算 8
3.4传感器的选择 10
3.5 齿轮的设计 12
3.6 轴和轴承的研究分析 15
4 直角坐标机器人的设计 16
4.1 直线电机的计算选型 16
4.1.1 Z向直线电机 16
4.1.2 X向直线电机 18
4.1.3 Y向直线电机 19
4.2 Y向直线电机同步性研究 19
5 机架的设计 21
6 安装结构的研究 22
6.1 机架与Y向直线电机 22
6.2 X向直线电机与Y向直线电机 23
6.3 X向直线电机与Z向直线电机 23
6.4 机械手与Z向直线电机 25
7 视觉系统的设计与选型 26
7.1 视觉系统的介绍 26
7.2 视觉系统的优点 26
7.3 视觉系统的比较 27
7.4 摄像头的选择 28
7.5 镜头的选择 29
8 控制系统的分析研究 26
9总结 32
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