现今工业机器人主要分两大类——直角坐标机器人和关节机器人，这两类机器人在诸多工业
领域得以广泛应用。MOTEC(中国)营业体系多年从事工业机器人研发和制造，本文是我们研发
设计队伍结合的多年经验和积累来介绍一下直角坐标机器人特点和应用，以及直角坐标工业
机器人的后期保养和维护。
直角坐标机器人
1、概念：
我们现在所讲的工业机器人和直角坐标机器人是指以标准化结构件为机械本体，内嵌方轨或
圆柱导轨为支撑导向，以皮带传动或丝杆传动为主要机械传动方式，配合使用伺服电机步进
电机和多轴运动控制系统一起构成工业化的重复使用的机器人系统。在现在机器人系统中，
也必须结合机器人使用过程中的工艺特点来选用相符合的机器人手抓和传感器。
因为直角坐标的结构，它的承载主要指标受到标准化结构件为机械本体和内嵌方轨或圆柱导
轨承载能力限制。一般这类机器人，比相应特制的钢结构的机器人承载能力要小，但容易批
量化生产，容易模块化管理，有效的控制了成本保证了精度和品质得一致性，为众多行业所
使用。
工业机器人能够搬运物体、操作工具，以完成各种作业。
2、特点：
1）任意组合成各种样式，形成两轴到六轴不同结构形式。
以为是结构化标准件的机械本体，所以它很容易任意裁切组合。我们需要注意的是，各种
组合之后，直角坐标机器人的系统精度是不同的。
2） 超大行程：单根最多长度是6米，但可以多根方便地级连成超大行程，例如50米长。
MOTEC(中国)的机器人研发生产队伍目前在中国最长的单根机器人运行产度为20多米。已
在用户处成功使用。
3）负载能力强：通常是到200公斤，但当采用多根多滑块结构时其负载能力可增加到数吨。
当你的负载要求较大时，就要和MOTEC(中国)的机器人研发工程师及行沟通，在设计中用
辅助结构或者改变其本体承载能力才可以。
4）高动态特性：轻负载时其{zg}运行速度每秒8米，加速度每秒5米。
5）高精度：重复定位精度可达到0.05mm～0.01mm。
6）扩展能力强：可以方便改变结构或通过编程来适合新的应用。
7）简单经济：编程简单类同数控铣床，易培训员工和维修，使其具有非常好的经济性。
8）寿命长：直角坐标机器人的寿命一般是10年以上，维护好可达40年。
关于机器人的寿命，必须要提及维护问题。一般机器人维护，主要是指机器人本体的维护
。和维护机床是一样的，要定期上油和清洁，需要检查和紧固。
关于机器人的定义随着科技的不断发展，在不断的完善，直角坐标机器人作为机器人的一种
，其含义也在不断的完善中。
直角坐标机器人应用范围广：可以方便地装配多种形式和尺寸的手爪，可以胜任许多常见的
工作，如焊接、切割，搬运、上下料、包装、码垛、检测、探伤、分类、装配、贴标、喷码
、打码和喷涂等任务。
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