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。
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
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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
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2 NEW PIECES!! 15 FT?MONITOR/MOUSE EXTENSION DB9 M/F BEIGE
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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
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LOT OF 3!! CONTROL FEEDER SYSTEM HJ94-C3 100V
5 NEW PIECES!! SMR63?BEARINGS 3MM x 6MM?x 2MM
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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
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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
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57 NEW PIECES!! 3" x?1.4" TYPE-L ROMAN BLIND ACCESSORIES FOR?FOLDS STEEL
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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)
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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)
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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)
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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
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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
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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"
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