現今工業機器人主要分兩大類——直角坐標機器人和關節機器人，這兩類機器人在諸多工業
領域得以廣泛應用。MOTEC(中國)營業體系多年從事工業機器人研發和制造，本文是我們研發
設計隊伍結合的多年經驗和積累來介紹一下直角坐標機器人特點和應用，以及直角坐標工業
機器人的后期保養和維護。
直角坐標機器人
1、概念：
我們現在所講的工業機器人和直角坐標機器人是指以標準化結構件為機械本體，內嵌方軌或
圓柱導軌為支撐導向，以皮帶傳動或絲桿傳動為主要機械傳動方式，配合使用伺服電機步進
電機和多軸運動控制系統一起構成工業化的重復使用的機器人系統。在現在機器人系統中，
也必須結合機器人使用過程中的工藝特點來選用相符合的機器人手抓和傳感器。
因為直角坐標的結構，它的承載主要指標受到標準化結構件為機械本體和內嵌方軌或圓柱導
軌承載能力限制。一般這類機器人，比相應特制的鋼結構的機器人承載能力要小，但容易批
量化生產，容易模塊化管理，有效的控制了成本保證了精度和品質得一致性，為眾多行業所
使用。
工業機器人能夠搬運物體、操作工具，以完成各種作業。
2、特點：
1）任意組合成各種樣式，形成兩軸到六軸不同結構形式。
以為是結構化標準件的機械本體，所以它很容易任意裁切組合。我們需要注意的是，各種
組合之后，直角坐標機器人的系統精度是不同的。
2） 超大行程：單根最多長度是6米，但可以多根方便地級連成超大行程，例如50米長。
MOTEC(中國)的機器人研發生產隊伍目前在中國最長的單根機器人運行產度為20多米。已
在用戶處成功使用。
3）負載能力強：通常是到200公斤，但當采用多根多滑塊結構時其負載能力可增加到數噸。
當你的負載要求較大時，就要和MOTEC(中國)的機器人研發工程師及行溝通，在設計中用
輔助結構或者改變其本體承載能力才可以。
4）高動態特性：輕負載時其{zg}運行速度每秒8米，加速度每秒5米。
5）高精度：重復定位精度可達到0.05mm～0.01mm。
6）擴展能力強：可以方便改變結構或通過編程來適合新的應用。
7）簡單經濟：編程簡單類同數控銑床，易培訓員工和維修，使其具有非常好的經濟性。
8）壽命長：直角坐標機器人的壽命一般是10年以上，維護好可達40年。
關于機器人的壽命，必須要提及維護問題。一般機器人維護，主要是指機器人本體的維護
。和維護機床是一樣的，要定期上油和清潔，需要檢查和緊固。
關于機器人的定義隨著科技的不斷發展，在不斷的完善，直角坐標機器人作為機器人的一種
，其含義也在不斷的完善中。
直角坐標機器人應用范圍廣：可以方便地裝配多種形式和尺寸的手爪，可以勝任許多常見的
工作，如焊接、切割，搬運、上下料、包裝、碼垛、檢測、探傷、分類、裝配、貼標、噴碼
、打碼和噴涂等任務。
LOT OF 2!! DAERYUK DCP52DF CIRCUIT BREAKER PROTECTOR 10AMP 2-POLES AC220V DC65V
OMRON C200H-CPU01 PLC PROGRAMMABLE CONTROLLER W/ 2-ID215 & 2-OD212 MODULE
CUTLER-HAMMER WESTINGHOUSE IQ DP-4000 ELECTRICAL DISTRIBUTION SYSTEM MONITOR
3 NEW PIECES!! SAMWHA EOCR-SE TYPE 30R ELECTRONIC OVERLOAD RELAY
LOT OF 3!! OMRON WLCA12-TS TWO-CIRCUIT LIMIT SWITCH 1/2"-NPT?600A 2A 15-250VAC
LOT OF 3!! KUN HUNG?KH-8012 FOOT SWITCH?125VAC 14VDC 15A
LOT OF 2!! SHAMWA EOCR-SS-30N OVERLOAD RELAY 3~30A 90-250VAC
10 NEW PIECES!! TERMINAL BLOCK CONNECTOR?7-POINTS
51 NEW PIECES!! BRACKET CEILING QED RIGHT/LEFT SUB
10 NEW PIECES!! BRACKET QED CEILING SUB?RIGHT/LEFT
LOT OF 2!! OMRON C500-OC223/3G2A5-OC223?OUTPUT UNIT 32-POINT?MODULE
LOT OF 3!! TRW A31-B15A-23W3-000 AXIAL FAN 230VAC 50/60HZ 10/8WATTS
LOT OF 2!! OMRON C500-OC221 OUTPUT UNIT?250VAC GENERAL PURPOSE 2A/P
3 NEW PIECES!! FUJI?FA-1008PB2-C SHOCK ABSORBER 8MM STROKE
2 NEW PIECES!! 15 FT?MONITOR/MOUSE EXTENSION DB9 M/F BEIGE
LOT OF 2!! SMC VP542?PNEUMATIC SOLENOID?VALVE 3-PORTS 1/4" 0.2-0.8MPA 21-26VDC
3 NEW PIECES!! ASA.SALES SKB08729 BAND HEATER 4.7" DIA X 6"?W 1250W 240/480V
LOT OF 5!! FUJI ELECTRIC AH30-P1 COMANDSWITCH 10AMP 600VAC?MAX.
LOT OF 2!! OMRON C200H-IM212 DISCRETE INPUT UNIT 24VAC/DC 7mA 16-POINTS
LOT OF 5!! KOINO KH-3008 RED PUSH BUTTON?AC250V 6AMP
LOT OF 3!! SMC PNEUMATIC 20-CDG1DA40-300?AIR CYLINDER 40MM BORE 300MM STROKE
LOT OF 3!! CONTROL FEEDER SYSTEM HJ94-C3 100V
5 NEW PIECES!! SMR63?BEARINGS 3MM x 6MM?x 2MM
LOT OF 30!! LAMP BULB 909 LIGHTBULBS MINIATURE 6V 0.62A (NEW)
SGS TOOL 38265 CORNER RADIUS END MILL 1/2" .045 SOLID CARBIDE (3 PIECES)
LOT OF 32!! IRWIN T10 TORX INSERT BITS?1" x 1/4"
LOT OF 2!! OMRON G730-VID16-B INPUT REMOTE TERMINAL 16-POINTS 10MA/POINT 24VDC
LOT OF 10!! HONEYWELL MAGNET RELAY SZR LY2-N1 AC200V SILVER-CADMIU
LOT OF 3!! KOINO KPB30M RED PUSH BUTTON?1NO CONTACT 250VAC 6AMP
POWER ONE HB12-1.7-A?POWER SUPPLY 100-240VAC 12VDC 1.7AMP
LOT OF 2!! OMRON C200H-ID211 INPUT UNIT?12-24VDC 10mA 8 POINTS
LOT OF 4 CABLES!! PAN PACIFIC IEEE-1284?COMPUTER COMPLIANT CABLE 6" (NEW)
8 NEW PIECES!! RUSH?10LET SEMI CONDUCTOR?FUSE 10AMP 240V
IMPERIAL STRIDE 208-F INNER-OUTER REAMER?COPPER ALUMINUM & BRASS TUBING (2 PCS)
LOT OF 10 FITTINGS!?SMC KQT06-01S PNEUMATIC T CONNECTOR PIPE 6MM THREAD 1/8''
150 NEW PIECES!! STRAP GALVANIZED STEEL?LOOP 2 HOLES LEATHER?BROWN 3/8"-OD
LOT OF 2!! OMRON C200HW-PA204S POWER SUPPLY UNIT 100-120/200-240VAC 120VA 0.8A
LOT OF 2!! 160-BA03NSF1 ALLEN-BRADLEY AC?SPEED DRIVER 380-460VAC 3PH 2.3A 1HP
3 NEW PIECES!! MARATHON NZ1010-20125 MICA NOZZLE HEATER 120V?125W 1.1"DIA x 1"W
LOT OF 2!! HAKKO IRON HOLDER 607 SOLDERING IRON STAND (NEW)
57 NEW PIECES!! 3" x?1.4" TYPE-L ROMAN BLIND ACCESSORIES FOR?FOLDS STEEL
2 NEW PIECES!! NORGREN SPUSR/000J0152 AIR CYLINDER BORE 3/4"?STROKE 3"
85 NEW PIECES!! ROLLEASE SPLICING CONNECTORS DRIVE DISK KHAKI
5 NEW PIECES!! OIL SHAFT SEALS 70 x 80 x?6 MM
LOT OF 2!! LG ABS 33?MOLDED CASE CIRCUIT?BREAKER 5AMP 3-POLES 660VAC
LOT OF 5!! OMRON WLCA12-TS LIMIT SWITCH?2A 250V NEMA A600 LEVEL ACTUATOR
LOT OF 50!! SEAL PINK 35 x 47 x 6 MM HIGH TEMP
ALCO AMI-1MM5 FLARE?MOISTURE LIQUID INDICATOR IN-OUT 5/8" 500PSIG
LOT OF 12!! SHACHIHATA 22114 XSTAMPER REFILL GREEN INK 10ML
50 NEW PIECES!! ROLLEASE SHADE STOP BRACKET 2-3/8"
LOT OF 2!! FUJI ELECTRIC AH30-L2 YELLOW?ILLUMINATED PUSH BUTTON 600V 10A 1NC-1NO
LOT OF 4!! OMRON WLCA12-2LXD LIMIT SWITCH 180° 200mA 24VDC WLCA12
LOT OF 24!! DONG-A DAGL 21 STRAIN RELIEVERS CABLE GLANDS
LOT OF 2!! SMC PNEUMATIC MHQG2-16D AIR PARALLEL GRIPPER 4MM?FITTING
LOT OF 4!! SQUARE-D?Q0 TYPE HACR CIRCUIT?BREAKER 30AMP 1-POLE 120-240V 10kA
2 NEW PIECES!! LASCO 4" 90 DEG. ELBOW SCH 80 CPVC
LOT OF 3!! OMRON R88A-RR220047S REGENERATION RESISTOR 47 Ohm?220W
6 NEW PIECES!! SHACHIHATA XSTAMPER CS-10N REFILL INK GREEN 22114 10ML
LOT OF 2!! FOXBORO 841GM-AI1-C ELECTRONIC PRESSURE TRANSMITTER 30PSIG 12-36VDC
SMC 20-CM2B32-60 AIR?CYLINDER 32MM BORE?60MM STROKE (2 PIECES)
LOT OF 14!! V2 TERMINAL BLOCK END CAPS
LOT OF 9!! HAICOCK AIR COUPLER FITTING 20S AIR COMPRESSOR 3/8"
LOT OF 4! GOLDSTAR SZR-MY4-N1 RELAY 4-POLES COIL-220VAC WITH?BASE SOCKET
LOT OF 3!! FUJI ELECTRIC SJ-0G MAGENTIC?CONTACTOR 15A 24VDC?3-POLE
4 NEW PIECES!! SMC PNEUMATIC VX2233 SOLENOID VALVE 24VDC
LOT OF 3!! OMRON PLC?GT1-BSC03 DEVICENET?RELAY UNIT 8-POINTS?24VDC
ORIENTAL MOTOR VEXTA?ASD24A-A SERVO DRIVE CONTROLLER MODULE?110-115V 50/60HZ
ALLEN-BRADLEY 100-C09Z*400 CONTACTOR 32A?24V COIL
LOT OF 3 CABLES!! ROHS 10D3-01106 COMPLINANT DB 25 MM 6FT
CIRCLE MACHINE AGD-156-05-CM1 REPLACEABLE COATED GROOVING INSERT 16078 5 PIECES
BIMBA MRS-087-XBL REED SWITCH 3-WIRE 24VDC 500mA
2 NEW PIECES!! GLASFLOSS PURACELL II MERV14 MINI PLEAT AIR FILTER 24" x 12" x 2"
LOT OF 2!! ORIENTAL?MOTOR SB31-IN BRAKE?PACK 3A 100V SB31IN
MAC 82A-AC-000-TM-DAAP-1DA/PR82A-GADA SOLENOID VALVE 110-120VAC 5.4W
LOT OF 16!! GOLDSTAR?SZR-MY4-N1 RELAY W/?SOCKET BASE 4-POLE?24VDC 3A 220VAC
250 NEW PIECES!! RING STEEL WASHER BLACK?1/4" OD 3/8" ID
6 NEW PIECES!! SMC D-Z73 REED SWITCH SENSOR 2-WIRE 1.2MS 24VDC 100VAC
LOT OF 21!! OSG MINI-CUTTER BRASS 20MM LENGTH 7MM WIDTH
LOT OF 3!! TDK ZCW2206-115 NOISE FILTER?6A 250V
107 NEW PIECES!! STRAP 3/8" GALVANIZED STEEL TWO HOLE
LOT OF 10!! DAITO UPH 30A FUSE HOLDER 250V
160 NEW PIECES!! BUSHING WHITE DERLIN 2"MID-SHADE
LOT OF 11!! CHICAGO?HARDWARE 50020-3 U-BOLT 1/4"x1-1/8" x2"
LOT OF 2!! MOELLER FAZ-C6 CIRCUIT BREAKER 1-POLE 6AMP
YANKEE 433 HSS STRAIGHT FLUTE CHUCKING REAMER 1/2" 0.5000"?( 5 PIECES)
5 NEW PIECES!! AMERICAN & EFIRD MEDALLION 2003 SERGER THREAD?SPOOLS 5000M
2 NEW PIECES!! TELEMECANIQUE LB1 LC03M07?OVERLOAD PROTECTION?MODULE 1.6/2.5A
LOT OF 9!! SMC ZP63HBS VACUUM PAD HEAVY?DUTY 63MM
LOT OF 2!! SHAMWA EOCR SS-05 R 220 OVERLOAD RELAY 0.5-6.5A 90-260VAC
LOT OF 4!! CURTAIN ROD STEEL 34-1/4"-L 1"-BALL DIA. HOT ROLLED ROUND
50 NEW PIECES!! STAINLESS STEEL ANGLE BRACKET 90-DEGREES
LOT OF 4!! TELEMECANIQUE DF6-AB10 TERMINAL BLOCK FUSEHOLDER?690VAC 32A
LOT OF 2!! FUJI 6RI75E-080 POWER DIODE MODULE 75A 800V
LOT OF 2!! ALLEN BRADLEY 802T-B OILTIGHT?LIMIT SWITCH 120-600VAC 60A NEMA-A600
4 NEW PIECES!! PIT 30 x 50 x 11MM NITRILE OIL SEAL
BANDO TL1008 TAPER LOCK BUSHING 5/8" BORE (3 NEW PIECES)
LOT OF 2!! SMC VPG2145 SOLENOID VALVE 0-1MPa 110VAC-COIL 50/60HZ 1/2"-PORT SIZE
LOT OF 3!! BUSS JP60030-3CR FUSEBLOCK TYPE J 30AMP W/ 3 FUSES LPJ-65P
LOT OF 3!! TERMINAL?BLOCK SERIE KH -61300 300A 250VAC 5 TERMINALS EA BOX
CUNO NT10T700S0NG POLYNET WATER FILTER 70 MICRON 10" LENGTH?(6 PIECES)
12 NEW PIECES!! CEJN?315 - 5404 NIPPLES?3/8" FEMALE
2000 NEW PIECES!! RING CLEAR POLYCARBONATE 13.73MM-OD 9.08MM-ID
LOT OF 2!! CONVUM MPS-74M-NGHX DIGITAL VACUUM PRESSURE SWITCH W/4 SENSORS MPS-R8
2 NEW PIECES!! MILLER PNEUMATIC A92B2B AIR CYLINDER 2" BORE?3" STROKE 250PSI
LOT OF 5!! CR 30725?OIL SEAL 78x100x10MM
LOT OF 2!! TELEMECANIQUE CA2-DN2229 CONTACTORS 600VOLTS 10AMP 24VDC
LOT OF 3!! BUSS COOPER H25030-3P FUSE HOLDER WITH HINODE F70C20 FUSES 20A
LOT OF 2!! TELEMECANIQUE LP20123 CONTACTOR 25A 24VDC COIL
ALLEN BRADLEY 800T-PTF16 ORANGE PUSH TO?TEST PILOT LIGHT 120VAC 50/60Hz
LOT OF 3!! OMRON C500-OD213 OUTPUT MODULE 24VDC 64-POINTS
CGW 38004 A60 WB1 ABRASIVES BENCH GRINDING WHEELS 6" x1/2"x?1" (2 PIECES)
2 NEW PIECES!! INA 6208-C3 BALL BEARINGS40 x 80 x 18MM
LOT OF 4!! MALENA M-50-T23-01-003 MINIATURE FLOW MONITOR SENSOR SWITCH 120VAC
8 NEW PIECES!! LG SZR LY4-N1 MAGNET RELAY AC 200/220V
20 NEW PIECES!! BARREL WOODEN CORD PULL?ROMAN SHADES COLOR-WHITE
LOT OF 5!! GOULD MODICON AS-B351-001 INPUT MODULE 115VAC
AMEC GEN2 T-A 4C1YH-?.390" ALLIED MAXCUT?DRILL INSERT COATED?25/64" (4 PIECES)
2 NEW PIECES!! INA 6003 2RS SINGLE ROW BALL BEARING 17MM x 35MM x 10MM
LOT OF 3!! SMC D-A54?SOLID STATE REED SWITCH SENSOR 24VDC
CGW 35006 A53660 ABRASIVES BENCH GRINDING WHEELS 6" x1/2"x 1" (2 PIECES)
4 NEW PIECES!! COATS?ASTRA SERGER THREAD?SPOOLS 6117-BABYBLUE SPUN POLY 5000M
LOT OF 2!! OMRON E3S-BT11-L PHOTOELECTRIC SENSOR EMITTER 12-24VDC
LOT OF 2!! OMRON DRT1-ID16T REMOTE INPUT?TERMINAL NPN 16-POINTS 24VDC
LOT OF 5!! OMRON E3S-R66 PHOTOELECTRIC RETROREFLECTIVE SENSOR 1M-DIST 1MS 30VDC
4 NEW PIECES!! PISCO?JSC6-M5MB NEEDLE VALVE 6mm TUBE FITTING
LOT OF 3!! OMRON C200H-0D218 OUTPUT UNIT?24VDC 0.1A/POINT 3.2A/UNIT
LOT OF 3!! OMRON WLCA2-LXD LIMIT SWITCH?W/ OPERATION INDICATOR 180° 200mA 24VDC
LOT OF 25!! GOULD SHAWMUT 30311 FUSE BLOCK 600VAC 30A 1-POLE
SEALEVEL SYSTEMS MM+2/EX 3087 I/O INTERFACE CARD 2-SERIAL PORT (2 NEW PIECES)
15 NEW PIECES!! GEARBOX FOR TUBULAR MOTOR CURTAINS WHITE
LOT OF 200!! PLASTIC STANDARD DVD CD-RVIDEO GAME CLEAR CASES BOXES
10 NEW PIECES!! BRACKET QED WALL MOUNT LEFT WHITE
LOT OF 20!! OMRON MY4N RELAY 4-POLE WITH?SOCKET BASE 24VDC 5AMP 250VAC
2 NEW PIECES!! NUMATICS 0301SA456B000061?AIR SOLENOID VALVE?160PSIG 24VDC COIL
LOT OF 2!! MOELLER PKZM0-6.3 MOTOR STARTER PROTECTOR 6.3A 120V DISCONNECT SWITCH
RKC THERMO COUPLE SENSOR PROBE 25MM GROUNDED 2METERS CABLE (2 NEW PIECES)
LOT OF 3!! OMRON D4NS-2BF GUARD LOCK SAFETY DOOR SWITCH 24VDC
RKC THERMO COUPLE SENSOR PROBE 25MM GROUNDED 2 METERS CABLE?0.75 (2 NEW PIECES)
LOT OF 13 FITTINGS!!?KOGANEI SC6-M5-MB ELBOW TUBE 6mm R1/8
8 NEW PIECES!! DACO?DAERYUK DCP51DF CIRCUIT PROTECTOR 220VAC?5A 1P
10 NEW PIECES!! CASTEC PAIR END CAP COVER BRACKET LEFT & RIGHT KHAKI-FOSSIL
10 NEW PIECES!! JG5?DISK ENDS CLEAT CURTAIN DARK RUST
10 NEW PIECES!! END?CAP SET 4040 REVEALBLACK 4" x 4"
LOT OF 6!! IDEC 3-HOLE 2MM PUSHBUTTON BOX ENCLOSURE THERMOPLASTIC