机器人学基础机器人应用蔡自兴.pptx

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1、1Chapter 9 Robot Applications9.1 Factors Considered in Applying Industrial Robots 应用工业机器人考虑因素Evaluating Tasks for Robots 机器人的任务估计Itisdifficulttochoosetasksforrobotseffectivelywithoutathoroughunderstandingoftheapplicationsofrobot.Whenevaluatingtasks,weshoulddistinguishtheundergoingtasksandthoseshould

2、becarriedoutbytherobot.Usingrobotscanprovideachancetoimprovetheproductivitysignificantlybychangingprocessvariables.Ch.9 Robot Applications第1页/共31页2应用机器人三要素TechnicalBases（1）performancerequirement（2）configurationrequirement（3）productfeature（4）equipmentreplacement（5）processchange9.1 Factors Considered

3、in Applying Industrial Robots第2页/共31页3EconomicReasonsthefactorsconsideredineconomicincluding:（1）labor（2）material（3）productivity（4）energy（5）equipment（6）cost9.1 Factors Considered in Applying Industrial Robots第3页/共31页4HumanFactors（1）operator（2）administratoranddepartment（3）maintainerandothersDateRecord

4、ingprovidearoughestimationofobservedapplicationprojects.9.1 Factors Considered in Applying Industrial Robots第4页/共31页5使用机器人的经验准则Estes(VernonE.Estes)in1979,madeeightrulesfortheuseofrobots,knownasVernonrules,whichareasfollows:（1）Startingtherobotplansfrompoorconditions（2）Consideringtheapplicationofrobot

5、sinthedepartmentwithlowproductivity.（3）Evaluatinglongtermneeds.（4）Makingworkingcostnottobeproportionaltothecostofrobots.（5）Strivingtosimplicityandeffectiveness.（6）Ensuringthesafetyofhumanandequipment（7）Dontexpectingsellerstoprovidefullturnkeyservices.（8）Dontforgettingthatrobotneedshuman.9.1 Factors

6、Considered in Applying Industrial Robots第5页/共31页6采用机器人的步骤StepsforApplyingRobotsinproductionsystems:（1）Consideringallaspectsandmakingsuretheautomationrequirements,suchasimprovingproductivity,increaseoutputs,reducinglaborintensity,improvingworkingconditionsandsoon.（2）Establishingrobotplans,includingde

7、termineautoma-tionobjectives,trainingtechnician,preparingtheapproximatescheduleandsoon.（3）Discusstherequirementsofapplyingrobots.（4）Normalizingtheassistantoperationandtheperformanceoftherobots9.1 Factors Considered in Applying Industrial Robots第6页/共31页7StepsforApplyingRobotsinproductionsystems:（5）De

8、signingtheprojectofrobotizationoperationsystem.（6）Choosesuitableevaluationcriterionforrobotsystem.（7）Detaileddesignandspecificimplementation.9.1 Factors Considered in Applying Industrial Robots第7页/共31页8GeneralstepsforrobotstobeusedinproductionsystemsFig.9.1 Steps for Applying Robots9.1 Factors Consi

9、dered in Applying Industrial Robots第8页/共31页99.2 Application Areas of Robots 机器人的应用领域Robots for IndustryComparedwiththetraditionalmachinerobot,ithastwomainadvantages：Entirelyautomatizationinproductionprocess Itbringshighqualityproductionandwellqualitycontrol,andimprovetheabilitytoadapttheconstantlych

10、anginguserneeds，soitwillimprovetheproductcompetitivenessinthemarket.StrongadaptabilityofproductionequipmentThedevicealsohastheabilitytoadapttofailures9.2 Application Areas of Robots第9页/共31页10RobotsforIndustrymainlyusedin:（1）AutomotiveIndustry（2）MachinebuildingandelectronicsIndustries(includingTeleco

11、mmunicationsIndustry)（3）GeneralMechanicalIndustry（4）Architecture（5）Metalworking（6）FoundryIndustry（7）Others9.2 Application Areas of Robots第10页/共31页11RobotsforIndustryclassifiedas：（1）MaterialsProcessing（2）Partsmanufacturing(including:forging,welding,brokenup,andcasting)（3）Producttesting(including:expl

12、icittest,implicittest)（4）Productassembly(including:materialsprocessing,on-linetesting,sparepartssupply,matchingagentssuchaspressureandtighteningprocesses)9.2 Application Areas of Robots第11页/共31页12探索机器人RobotsforExploration（1）AutonomousRobotAutonomousrobotcanperformprogrammingtasksinharshenvironments.

13、（2）RemoteControlRobotTheoperatorcontroltherobotinaharshenvironmenttocompletesometaskfromrelativelongdistanceaway.9.2 Application Areas of Robots第12页/共31页TwomaintypesofrobotsforexplorationUnderwaterRobotAccordingtomovementmodes:（1）FloatingUnderwaterRobot（2）WalkingUnderwaterRobot（3）MobileUnderwaterRob

14、otAccordingtopowersupplymodes:（1）CableUnderwaterRobot（2）WirelessUnderwaterRobot9.2 Application Areas of Robots13第13页/共31页14SpaceRobotThemaintaskofspacerobots:（1）Toexploreasapioneerinnon-humanlivingconditionssuchasthemoon,Marsandothersplanets.（2）InsteadofAstronautstocompletesatelliteservice,thespaces

15、tationserviceandtheexperimentunderspaceenvironment.9.2 Application Areas of Robots第14页/共31页15服务机器人Definition1Robotforserviceisasemi-autonomousorfull-autonomousrobot，whichservicesforhumanhealth.Definition2Robotforservicecanbeseenasakindoffreeprogrammingmobiledevice,anditcanpartiallyorfullyautomaticco

16、mpleteservices.9.2 Application Areas of Robots第15页/共31页16Medicalrobotsappliedtothefollowingaspects:（1）DiagnosisRobot（2）NursingRobot（3）DisabilityandParalysisRehabilitationRobot（4）HouseholdRobot（5）EntertainmentRobot（6）Medicalandsurgicalrobot9.2 Application Areas of Robots第16页/共31页17Otherrobotsforservi

17、ce:DeliverLettersRobotsTourGuideRobotsAddOilRobotsConstructionRobotsAgricultureandForestryRobots9.2 Application Areas of Robots第17页/共31页18军事机器人9.2 Application Areas of RobotsGround military robots intelligent robot,including independent and semi-autonomous vehiclesremote-controlled robot,namely,Vari

18、ous remote unmanned vehiclesAerial military robots Marine military robots 第18页/共31页199.3 Application Examples of Industrial Robots 工业机器人应用举例Robots for Material Handling（材料搬运）CONSIGHTsystemdevelopedbyGeneralMotors(GM)isavisualcontrolsystemusedfortransportingandassemblingoftheparts.9.3 Application Exa

19、mples of Industrial RobotsFig 9.3 Hardware diagram of CONSIGHT system第19页/共31页20FunctionsofCONSIGHTsystem:Determiningpositionsanddirectionsofvariousmechanicalparts(includingcomplexcurveobjects).Itiseasytocompileprogramsonthesystembyinsertingthenewparts.Structurelightsubsystem,preventneedofhighscenec

20、ontrast.Processingimagedataeffectively,whichcontainsvideonoise,inmanytypicalenvironmentoffactory.9.3 Application Examples of Industrial Robots第20页/共31页21Fig 9.4 Operating procedure of CONSIGHT monitoring system 9.3 Application Examples of Industrial Robots第21页/共31页22焊接机器人Weldingrobothasthelargestapp

21、licationsinindustrialrobot.Fig 9.5 Simplified hardware diagram of HRGH-control system 9.3 Application Examples of Industrial Robots第22页/共31页23Thesystemiscomposedoftwo-levelcontrolsystem:Firstlevelbasedonmicrocomputersystem.ThefirstlevelchoosesmicrocomputerIBM-PC/XT,withthefunctions:management,faultd

22、iagnosisandmachinelanguageediting,compilerandetc.Secondlevelbasedonsingleboardcomputersystem.ChoosingTP-86singleboardcomputerasthesecondcontrolcircuit,realizeservopositioncontrolfor5joints.9.3 Application Examples of Industrial Robots第23页/共31页24Figure 9.6 Software flowchart of HRGH-II 9.3 Applicatio

23、n Examples of Industrial Robots第24页/共31页25喷漆机器人PJ-IpaintingrobotFig 9.8 Structure diagram of PJ-I control system 9.3 Application Examples of Industrial Robots第25页/共31页26Control softwareconsistsoftwomodules:TeachingmoduleReplaymodule.Structureofthesetwomodulearesimilar.Teaching programconsistsofthree

24、tasks:TaskAcompletes initializationandcreatenewtask.TaskBconsistsof readingthecollecteddatainmemorybufferandwritingthemintothedisk.TaskCcontains monitoringoperationonpanelbuttons.9.3 Application Examples of Industrial Robots第26页/共31页27Fig 9.9 Teaching flowchart(a)Initialization,(b)Task A,(c)Task B,(

25、d)Task C 9.3 Application Examples of Industrial Robots第27页/共31页28NCspray-paintsystemFig 9.10 Composition of NC Automatic spray system 9.3 Application Examples of Industrial Robots第28页/共31页299.4 Summary 小结Generalconsiderationsfortheapplicationofrobots.Task,Technology,EconomyandPersonnel.Vernonprinciple,criteriaandexperiencewhenapplicationofrobots.Industrialrobotsapplications.MaterialHandlingWeldingRobotsPaintingRobotsRobotswillbeappliedinmorewidelyfields.ExplorationRobotsMilitaryRobotsServiceRobots 9.4 Summary第29页/共31页 谢谢大家！谢谢大家！30Fundamentals of Robotics第30页/共31页感谢您的观看。第31页/共31页