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 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.

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

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 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

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