工业机器人(英语).doc

*- Industrial Robots In the modern large-scale manufacturing industry, enterprises pay more attention on the automation degree of the production process in order to enhance the production efficiency, and guarantee the product quality. As an important part of the automation production line, industrial robots are gradually approved and adopted by enterprises. The technique level and the application degree of industrial robots reflect the national level of the industrial automation to some extent, currently, industrial robots mainly undertake the jops of welding, spraying, transporting and stowing etc. , which are usually done repeatedly and take high work strength, and most of these robots work in playback way. In this paper I will design an industrial robot with four DOFs, which is used to carry material for a punch. First I will design the structure of the base, the big arm, the small arm and the end manipulator of the robot, then choose proper drive method and transmission method, building the mechanical structure of the robot. On this foundation, I will design the control system of the robot, including choosing DAQ card, servo control, and feedback method and designing electric circuit of the terminal card and control software. Great attention will be paid on the reliability of the control software and the robot safety during running. The aims to realize finally include: servocontrol and brake of the joint, monitoring the movement of each joint in realtime, playback programming and modifying the program online, setting reference point and returning to reference point. A robot is a mechanical or virtual intelligent agent that can perform tasks automatically or with guidance, typically by remote control. In practice a robot is usually an electro-mechanical machine that is guided by computer and electronic programming. Robots can be autonomous, semi-autonomous or remotely controlled. Robots range from humanoids such as ASIMO and TOPIO to Nano robots, Swarm robots, Industrial robots, military robots, mobile and servicing robots. By mimicking a lifelike appearance or automating movements, a robot may convey a sense that it has intent or agency of its own. The branch of technology that deals with robots is robotics. When societies first began developing, nearly all production and effort was the result of human labor, as well as with the aid of semi- and fully domesticated animals. As mechanical means of performing functions were discovered, and mechanics and complex mechanisms were developed, the need for human labor was reduced. Machinery was initially used for repetitive functions, such as lifting water and grinding grain. Modern industrial robots are true marvels of engineering. A robot the size of a person can easily carry a load over one hundred pounds and move it very quickly with a repeatability of +/-0.006 inches. Furthermore these robots can do those 24 hours a day for years on end with no failures whatsoever. Though they are reprogrammable, in many applications (particularly those in the auto industry) they are programmed once and then repeat that exact same task for years. A six-axis robot like the yellow one below costs about $60,000. What I find interesting is that deploying the robot costs another $200,000. Thus, the cost of the robot itself is just a fraction of the cost of the total system. The tools the robot uses combined with the cost of programming the robot form the major percentage of the cost. Thats why robots in the auto industry are rarely reprogrammed. If they are going to go to the expense of deploying a robot for another task, then they may as well use a new robot. This is pretty much the typical machine people think of when they think of industrial robots. Fanuc makes this particular robot. Fanuc is the largest maker of these type of robots in the world and they are almost always yellow. This robot has six independent joints, also called six degrees of freedom. The reason for this is that arbitrarily placing a solid body in space requires six parameters; three to specify the location (x, y, z for example) and three to specify the orientation (roll, yaw, pitch for example). If you look closely you will see two cylindrical pistons on the side of the robot. These cylinders contain "anti-gravity" springs that are a big part of the reason robots like these can carry such heavy loads. These springs counter-balance against gravity similar to the way the springs on the garage door make it much easier for a person to lift. You will see robots like these welding, painting and handling materials. The robot shown at rightis made by an American company, Adept Technology. Adept is Americas largest robot company and the worlds leading producer of SCARA robots. This is actually the most common industrial robot. SCARA stands for Selective Compliance Articulated (though some folks use Assembly here) Robot Arm. The robot has three joints in the horizontal plane that give it x-y positioning and orientation parallel tothe plane. There is one linear joint that supplies the z positioning. This is the typical "pick and place" robot. When combined with a vision system it can move product from conveyor belt to package at a very high rate of speed (think "Lucy and the candies" but way faster). The robots joint structure allows it to be compliant (or soft) to forces in the horizontal plane. This is important for "peg in hole" type applications where the robot will actually flex to make up for inaccuracies and allow very tight part fits. The machine at left can be called a Cartesian robot, though calling this machine a robot is really stretching the definition of a robot. It is Cartesian because it allows x-y-z positioning. Three linear joints provide the three axes of motion and define the x, y and z planes. This robot is suited for pick and place applications where either there are no orientation requirements or the parts can be pre-oriented before the robot picks them up (such as surface mounted circuit board assembly)... The most commonly used robot configurations are articulated robots, SCARA robots, Delta robots and Cartesian coordinate robots, (aka gantry robots or x-y-z robots). In the context of general robotics, most types of robots would fall into the category of robotic arms (inherent in the use of the word manipulator in the above-mentioned ISO standard). Robots exhibit varying degrees of autonomy: Some robots are programmed to faithfully carry out specific actions over and over again (repetitive actions) without variation and with a high degree of accuracy. These actions are determined by programmed routines that specify the direction, acceleration, velocity, deceleration, and distance of a series of coordinated motions. Other robots are much more flexible as to the orientation of the object on which they are operating or even the task that has to be performed on the object itself, which the robot may even need to identify. For example, for more precise guidance, robots often contain machine vision sub-systems acting as their "eyes", linked to powerful computers or controllers. Artificial intelligence, or what passes for it, is becoming an increasingly important factor in the modern industrial robot. 工业机器人 在当今大规模制造业中，企业为提高生产效率，保障产品质量，普遍重视生产过程的自动化程度，工业机器人作为自动化生产线上的重要成员，逐渐被企业所认同并采用。工业机器人的技术水平和应用程度在一定程度上反映了一个国家工业自动化的水平，目前，工业机器人主要承担着焊接、喷涂、搬运以及堆垛等重复性并且劳动强度极大的工作，工作方式一般采取示教再现的方式。 本文将设计一台四自由度的工业机器人，用于给冲压设备运送物料。首先，本文将设计机器人的底座、大臂、小臂和机械手的结构，然后选择合适的传动方式、驱动方式，搭建机器人的结构平台；在此基础上，本文将设计该机器人的控制系统，包括数据采集卡和伺服放大器的选择、反馈方式和反馈元件的选择、端子板电路的设计以及控制软件的设计，重点加强控制软件的可靠性和机器人运行过程的安全性，最终实现的目标包括：关节的伺服控制和制动问题、实时监测机器人的各个关节的运动情况、机器人的示教编程和在线修改程序、设置参考点和回参考点。 机器人是一个可自动执行任务、指导,通常通过远程控制的机械或虚拟智能代理。在实践中一个机器人通常是一个通过计算机和电子编程诱导的电机。机器人可以自主、自治或远程控制。机器人的范围从机器人ASIMO TOPIO等,到纳米机器人,群机器人、工业机器人,军用机器人、移动和维修机器人。通过模拟一个逼真的外形或自动化的动作,一个机器人可以传达某种意义上来说它自己的意图或机构，处理机器人的技术的分支叫做机器人技术。在当社会开始发展中,几乎所有的生产和努力是人类劳动的结果,以及借助半-和完全驯化的动物。当履行职能的机械手段被发现,力学和复杂的机制被发展出来的时候，对人工劳动力的需要就会减少。机械最初用于重复功能,比如提升水位和研磨谷物。 现代工业机器人是真正的工程传奇。一个人大小的机器人可以轻易的提起超过一百磅的物体，并能够以+/-0.006英寸的重复性进行快速移动。而且这些机器人能够连续几年24小时做这些工作而没有失败。虽然他们是可编程的，但在很多应用中（特别是在汽车行业）谈们一旦被编程就会准确地重复同样的工作好几年。 像这个黄色的六轴机器人需要花费6万美元。有趣的是我发现部署机器人会花费另外的20万美元。因此，机器人本身的花费只是整个系统花费的一部分。机器人用的工具和编程机器人的花费构成了花费的大部分。这就是为什么汽车行业里的机器人很少被编程。如果他们打算花费去部署一个机器人做另外的一个工作，那么他们最好用一个新的机器人。 当人们设想工业机器人的时候，这是非常典型的机器。是Fanuc制造了这种特别的机器人。Fanuc是世界上这些类机器人的最大的制造者，他们总是大部分是黄色的。这个机器人有六个独立的关节，也叫做六自由度。这样叫的原因是在空间里任意放置一个实体需要六个参数；三个用于指定位置（例如x，y，z），三个用于指定旋转(例如翻转，偏移，俯仰)。 如果仔细观察，你会发现在机器人的一边有两个圆柱活塞。这些缸体含有反重力弹簧，这就是机器人可以提起如此大的负载的主要原因。这些弹簧平衡重力就像装在车库门上的弹簧使门更容易被一个举起来的工作方式。 你会看到机器人焊接、绘画和处理材料。 在右边所示的机器人是由一个叫做Adept Technology的美国公司制造的。Adept 是美国最大的机器人公司和SCARA机器人的世界领头制造商。这实际上是最常见的机器人。SCARA主张选择地遵守铰接式（尽管有些人在这里利用组装）机械臂。该机器人在水平面有三个接合处，这给它x-y的定位和平行与水平面的方向。有一个线性的联合供应的Z定位。这是典型的“采摘和放置”的机器人。加上一个视觉系统它就可以在一个非常高的速度下将产品从传送带上进行封装。 这个机器人的联合结构允许它兼容（或软的）来使机器人放置在水平面。对于“用孔固定在水平面”型应用机器人这是非常重要的，这个机器人将会很灵活，容易弯曲，可能会导致误差，而且它晕眩部件紧密配合。 在左侧的机器可以被称为笛卡尔机器人。然而叫这台机器为机器人实际上是伸展了机器人的定义。这是笛卡尔的因为它可以让x-y-z坐标系定位。三个线性接合处提供了3个轴的运动，并确定了X ， Y和Z位面。这种机器人适合对场合和地点都没有方向的要求或部分可预先方向的拾起和放置应用（如表面裱好的电路板的装配）。 最常用的机器人配置的多关节机器人，SCARA机器人，机器人三角洲和直角坐标机器人（又名龙门式机器人或XYZ机器人）。在一般机器人的情况下，大多数类型的机器人将落入类别的机器人手臂（固有字机械臂在使用上述ISO标准）。机器人表现出不同程度的自主权： 一些机器人编程，忠实履行了一遍又一遍的具体行动（重复操作）没有变化，并与高精确度。这些行动是由编程例程指定的方向，加速度，速度，减速，一系列协调运动的距离。 其他的机器人，它们经营的对象，甚至有对象本身，机器人甚至可能需要确定执行任务的方向更加灵活。例如，对于更加精确的指导，机器人通常包含机器视觉子系统，作为他们的“眼睛”与强大的计算机或控制器，。人工智能，或传递，正在成为越来越重要的因素在现代工业机器人。