工業(yè)機(jī)器人(英語(yǔ))

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.工業(yè)機(jī)器人在當(dāng)今大規(guī)模制造業(yè)中，企業(yè)為提高生產(chǎn)效率，保障產(chǎn)品質(zhì)量，普遍重視生產(chǎn)過(guò)程的自動(dòng)化程度，工業(yè)機(jī)器人作為自動(dòng)化生產(chǎn)線上的重要成員，逐漸被企業(yè)所認(rèn)同并采用。工業(yè)機(jī)器人的技術(shù)水平和應(yīng)用程度在一定程度上反映了一個(gè)國(guó)家工業(yè)自動(dòng)化的水平，目前，工業(yè)機(jī)器人主要承擔(dān)著焊接、噴涂、搬運(yùn)以及堆垛等重復(fù)性并且勞動(dòng)強(qiáng)度極大的工作，工作方式一般采取示教再現(xiàn)的方式。

本文將設(shè)計(jì)一臺(tái)四自由度的工業(yè)機(jī)器人，用于給沖壓設(shè)備運(yùn)送物料。首先，本文將設(shè)計(jì)機(jī)器人的底座、大臂、小臂和機(jī)械手的結(jié)構(gòu)，然后選擇合適的傳動(dòng)方式、驅(qū)動(dòng)方式，搭建機(jī)器人的結(jié)構(gòu)平臺(tái)；在此基礎(chǔ)上，本文將設(shè)計(jì)該機(jī)器人的控制系統(tǒng)，包括數(shù)據(jù)采集卡和伺服放大器的選擇、反饋方式和反饋元件的選擇、端子板電路的設(shè)計(jì)以及控制軟件的設(shè)計(jì)，重點(diǎn)加強(qiáng)控制軟件的可靠性和機(jī)器人運(yùn)行過(guò)程的安全性，最終實(shí)現(xiàn)的目標(biāo)包括：關(guān)節(jié)的伺服控制和制動(dòng)問(wèn)題、實(shí)時(shí)監(jiān)測(cè)機(jī)器人的各個(gè)關(guān)節(jié)的運(yùn)動(dòng)情況、機(jī)器人的示教編程和在線修改程序、設(shè)置參考點(diǎn)和回參考點(diǎn)。機(jī)器人是一個(gè)可自動(dòng)執(zhí)行任務(wù)、指導(dǎo),通常通過(guò)遠(yuǎn)程控制的機(jī)械或虛擬智能代理。在實(shí)踐中一個(gè)機(jī)器人通常是一個(gè)通過(guò)計(jì)算機(jī)和電子編程誘導(dǎo)的電機(jī)。機(jī)器人可以自主、自治或遠(yuǎn)程控制。機(jī)器人的范圍從機(jī)器人ASIMOTOPIO等,到納米機(jī)器人,群機(jī)器人、工業(yè)機(jī)器人,軍用機(jī)器人、移動(dòng)和維修機(jī)器人。通過(guò)模擬一個(gè)逼真的外形或自動(dòng)化的動(dòng)作,一個(gè)機(jī)器人可以傳達(dá)某種意義上來(lái)說(shuō)它自己的意圖或機(jī)構(gòu)，處理機(jī)器人的技術(shù)的分支叫做機(jī)器人技術(shù)。在當(dāng)社會(huì)開(kāi)始發(fā)展中,幾乎所有的生產(chǎn)和努力是人類勞動(dòng)的結(jié)果,以及借助半-和完全馴化的動(dòng)物。當(dāng)履行職能的機(jī)械手段被發(fā)現(xiàn),力學(xué)和復(fù)雜的機(jī)制被發(fā)展出來(lái)的時(shí)候，對(duì)人工勞動(dòng)力的需要就會(huì)減少。機(jī)械最初用于重復(fù)功能,比如提升水位和研磨谷物?，F(xiàn)代工業(yè)機(jī)器人是真正的工程傳奇。一個(gè)人大小的機(jī)器人可以輕易的提起超過(guò)一百磅的物體，并能夠以+/-0.006英寸的重復(fù)性進(jìn)行快速移動(dòng)。而且這些機(jī)器人能夠連續(xù)幾年24小時(shí)做這些工作而沒(méi)有失敗。雖然他們是可編程的，但在很多應(yīng)用中（特別是在汽車(chē)行業(yè)）談們一旦被編程就會(huì)準(zhǔn)確地重復(fù)同樣的工作好幾年。像這個(gè)黃色的六軸機(jī)器人需要花費(fèi)6萬(wàn)美元。有趣的是我發(fā)現(xiàn)部署機(jī)器人會(huì)花費(fèi)另外的20萬(wàn)美元。因此，機(jī)器人本身的花費(fèi)只是整個(gè)系統(tǒng)花費(fèi)的一部分。機(jī)器人用的工具和編程機(jī)器人的花費(fèi)構(gòu)成了花費(fèi)的大部分。這就是為什么汽車(chē)行業(yè)里的機(jī)器人很少被編程。如果他們打算花費(fèi)去部署一個(gè)機(jī)器人做另外的一個(gè)工作，那么他們最好用一個(gè)新的機(jī)器人。當(dāng)人們?cè)O(shè)想工業(yè)機(jī)器人的時(shí)候，這是非常典型的機(jī)器。是Fa