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工业机器人英语
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
工业机器人英语
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
、
工业机器人英语
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
、
That's
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
工业机器人英语
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 right is made by an
American company, Adept
Technology
、
Adept is America's largest robot
company and the world's
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 to
the plane
、
There
is one linear joint that supplies the z
positioning
、
This is the typical
、
When combined
with a vision system it can move
product from conveyor belt to package
at a very high rate of speed (think
faster)
、
The robot's joint structure allows it
to be compliant (or soft) to
forces in
the horizontal plane
、
This is important for
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