工业机器人(英语)

IndustrialRobotsInthemodernlarge-scalemanufacturingindustry,enterprisespaymoreattentionontheautomationdegreeoftheproductionprocessinordertoenhancetheproductionefficiency,andguaranteetheproductquality.Asanimportantpartoftheautomationproductionline,industrialrobotsaregraduallyapprovedandadoptedbyenterprises.Thetechniquelevelandtheapplicationdegreeofindustrialrobotsreflectthenationalleveloftheindustrialautomationtosomeextent,currently,industrialrobotsmainlyundertakethejopsofwelding,spraying,transportingandstowingetc.,whichareusuallydonerepeatedlyandtakehighworkstrength,andmostoftheserobotsworkinplaybackway.

InthispaperIwilldesignanindustrialrobotwithfourDOFs,whichisusedtocarrymaterialforapunch.FirstIwilldesignthestructureofthebase,thebigarm,thesmallarmandtheendmanipulatoroftherobot,thenchooseproperdrivemethodandtransmissionmethod,buildingthemechanicalstructureoftherobot.Onthisfoundation,Iwilldesignthecontrolsystemoftherobot,includingchoosingDAQcard,servocontrol,andfeedbackmethodanddesigningelectriccircuitoftheterminalcardandcontrolsoftware.Greatattentionwillbepaidonthereliabilityofthecontrolsoftwareandtherobotsafetyduringrunning.Theaimstorealizefinallyinclude:servocontrolandbrakeofthejoint,monitoringthemovementofeachjointinrealtime,playbackprogrammingandmodifyingtheprogramonline,settingreferencepointandreturningtoreferencepoint.Arobotisamechanicalorvirtualintelligentagentthatcanperformtasksautomaticallyorwithguidance,typicallybyremotecontrol.Inpracticearobotisusuallyan\o"Electromechanics"electro-mechanicalmachinethatisguidedbycomputerandelectronicprogramming.Robotscanbe\o"Autonomous"autonomous,semi-autonomousorremotelycontrolled.Robotsrangefromhumanoidssuchas\o"ASIMO"ASIMOand\o"TOPIO"TOPIOto\o"Nanorobotics"Nanorobots,\o"SwarmRobotics"Swarmrobots,\o"Industrialrobot"Industrialrobots,\o"Militaryrobot"militaryrobots,\o"Mobilerobot"mobileand\o"Domesticrobot"servicingrobots.Bymimickingalifelikeappearanceorautomatingmovements,arobotmayconveyasensethatithas\o"Intention"intentor\o"Agency(philosophy)"agencyofitsown.Thebranchoftechnologythatdealswithrobotsis\o"Robotics"robotics.Whensocietiesfirstbegandeveloping,nearlyallproductionandeffortwastheresultofhumanlabor,aswellaswiththeaidofsemi-andfullydomesticatedanimals.Asmechanicalmeansofperformingfunctionswerediscovered,andmechanicsandcomplexmechanismsweredeveloped,theneedforhumanlaborwasreduced.Machinerywasinitiallyusedforrepetitivefunctions,suchasliftingwaterandgrindinggrain.Modernindustrialrobotsaretruemarvelsofengineering.Arobotthesizeofapersoncaneasilycarryaloadoveronehundredpoundsandmoveitveryquicklywitharepeatabilityof+/-0.006inches.Furthermoretheserobotscandothose24hoursadayforyearsonendwithnofailureswhatsoever.Thoughtheyarereprogrammable,inmanyapplications(particularlythoseintheautoindustry)theyareprogrammedonceandthenrepeatthatexactsametaskforyears.Asix-axisrobotliketheyellowonebelowcostsabout$60,000.WhatIfindinterestingisthatdeployingtherobotcostsanother$200,000.Thus,thecostoftherobotitselfisjustafractionofthecostofthetotalsystem.Thetoolstherobotusescombinedwiththecostofprogrammingtherobotformthemajorpercentageofthecost.That'swhyrobotsintheautoindustryarerarelyreprogrammed.Iftheyaregoingtogototheexpenseofdeployingarobotforanothertask,thentheymayaswelluseanewrobot.Thisisprettymuchthetypicalmachinepeoplethinkofwhentheythinkofindustrialrobots.Fanucmakesthisparticularrobot.Fanucisthelargestmakerofthesetypeofrobotsintheworldandtheyarealmostalwaysyellow.Thisrobothassixindependentjoints,alsocalledsixdegreesoffreedom.Thereasonforthisisthatarbitrarilyplacingasolidbodyinspacerequiressixparameters;threetospecifythelocation(x,y,zforexample)andthreetospecifytheorientation(roll,yaw,pitchforexample).Ifyoulookcloselyyouwillseetwocylindricalpistonsonthesideoftherobot.Thesecylinderscontain"anti-gravity"springsthatareabigpartofthereasonrobotslikethesecancarrysuchheavyloads.Thesespringscounter-balanceagainstgravitysimilartothewaythespringsonthegaragedoormakeitmucheasierforapersontolift.Youwillseerobotslikethesewelding,paintingandhandlingmaterials.Therobotshownatright

ismadebyanAmericancompany,AdeptTechnology.AdeptisAmerica'slargestrobotcompanyandtheworld'sleadingproducerofSCARArobots.Thisisactuallythemostcommonindustrialrobot.SCARAstandsforSelectiveComplianceArticulated(thoughsomefolksuseAssemblyhere)RobotArm.Therobothasthreejointsinthehorizontalplanethatgiveitx-ypositioningandorientationparallelto

theplane.Thereisonelinearjointthatsuppliesthezpositioning.Thisisthetypical"pickandplace"robot.Whencombinedwithavisionsystemitcanmoveproductfromconveyorbelttopackageataveryhighrateofspeed(think"Lucyandthecandies"butwayfaster).Therobot'sjointstructureallowsittobecompliant(orsoft)toforcesinthehorizontalplane.Thisisimportantfor"peginhole"typeapplicationswheretherobotwillactuallyflextomakeupforinaccuraciesandallowverytightpartfits.ThemachineatleftcanbecalledaCartesianrobot,thoughcallingthismachinearobotisreallystretchingthedefinitionofarobot.ItisCartesianbecauseitallowsx-y-zpositioning.Threelinearjointsprovidethethreeaxesofmotionanddefinethex,yandzplanes.Thisrobotissuitedforpickandplaceapplicationswhereeithertherearenoorientationrequirementsorthepartscanbepre-orientedbeforetherobotpicksthemup(suchassurfacemountedcircuitboardassembly)...Themostcommonlyusedrobotconfigurationsare\o"Articulatedrobot"articulatedrobots,\o"SCARA"SCARArobots,\o"Deltarobot"Deltarobotsand\o"Cartesiancoordinaterobot"Cartesiancoordinaterobots,(akagantryrobotsorx-y-zrobots).Inthecontextofgeneralrobotics,mosttypesofrobotswouldfallintothecategoryof\o"Roboticarm"roboticarms(inherentintheuseofthewordmanipulatorintheabove-mentionedISOstandard).Robotsexhibitvaryingdegreesof\o"Autonomousrobot"autonomy:Somerobotsareprogrammedtofaithfullycarryoutspecificactionsoverandoveragain(repetitiveactions)withoutvariationandwithahighdegreeofaccuracy.Theseactionsaredeterminedbyprogrammed\o"Routine"routinesthatspecifythedirection,acceleration,velocity,deceleration,anddistanceofaseriesofcoordinatedmotions.Otherrobotsaremuchmoreflexibleastotheorientationoftheobjectonwhichtheyareoperatingoreventhetaskthathastobeperformedontheobjectitself,whichtherobotmayevenneedtoidentify.Forexample,formorepreciseguidance,robotsoftencontain\o"Machinevision"machinevisionsub-systemsactingastheir"eyes",linkedtopowerfulcomputersorcontrollers.\o"Artificialintelligence"Artificialintelligence,orwhatpassesforit,isbecominganincreasinglyimportantfactorinthemodernindustrialrobot.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ASIMOTOPIO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Fa