摘要
本文在综述近年来机器人技术研究和发展状况的基础上，结合自动组装用机器人的设计，对机器人技术进行了系统的分析，提出了整体结构、执行部件和上料装置的设计方案。
本文结合螺钉的形状、装配位置和精度的各方面的要求以及机器人拧紧过程中出现的问题，参考近几年机器人技术研究和发展的状况，在充分发挥机、电、软、硬件各自特点和优势互补的基础上，对装配用拧紧螺钉机器人的整体机械结构、传动系统和驱动装置进行了分析和设计，提出了一套整体结构设计方案和传动方案。采用直角坐标的框架式机械结构形式，这种方式能够提高系统的稳定性和操作灵活性，并对它的三个坐标运动进行了设计；采用自我设计的自动送料装置；最后采用步进电机驱动，导轨和滚珠丝杠传动力和扭矩。
通过以上各部分的工作，得出了结构简单、实用化、自动上料的装配用机器人的整体设计方案和执行部件的结构设计，它对其他类型的数控系统的设计也有一定的借鉴价值。
关键词： 自动组装 螺钉 机器人 结构设计    
ABSTRACT
In this paper, a robot whole mechanical configuration , execute part and deliver goods is provided based on the research and development of robot in recent years and connected with the design of the automatic assemble screw. With the analysis of the problems in the design of the automatic assemble screw and synthesizing the robot research and development condition in recent years, a economic scheme is concluded on the basis of the analysis of mechanical configuration, transform system, drive device and control system and guided by the idea of the characteristic and complex of mechanical configuration, electronic, software and hardware. In this article, the mechanical configuration combines the character of direction coordinate and the arthrosis coordinate which can improve the stability and operation flexibility of the system. Adopt self design send material installation voluntarily. the last, drive force by electrical machinery and transmission force by ball leading screw and guide.
According to the analysis of above parts, configuration simple , practicality and  the automatic assemble screw is concluded which will be value to other type of robot’s mechanical design and control system research.
Keyword:  automatic assemble  screw  robot  design of the configuration