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　機(jī)器人誕生之日起人們就不斷地嘗試著說明到底什么是機(jī)器人。但隨著機(jī)器人技術(shù)的飛速發(fā)展和信息時(shí)代的到來，機(jī)器人所涵蓋的內(nèi)容越來越豐富，機(jī)器人的定義也不斷充實(shí)和創(chuàng)新。機(jī)器人技術(shù)作為20世紀(jì)人類最偉大的發(fā)明之一，自20世紀(jì)60年代初問世以來，經(jīng)歷40多年的發(fā)展已取得長足的進(jìn)步。隨著近年來制造業(yè)的不斷發(fā)展，工業(yè)機(jī)器人已成為智能制造和工業(yè)自動(dòng)化的關(guān)鍵技術(shù)和重要產(chǎn)品，也是數(shù)控機(jī)床走向自動(dòng)化更高階段的重要一環(huán)。

　　隨著電子控制技術(shù)的不斷發(fā)展，PLC正向高速度、容量大等物聯(lián)網(wǎng)及智能通信方向發(fā)展，通過物聯(lián)網(wǎng)，能實(shí)現(xiàn)PLC、變頻器、遠(yuǎn)程I/O等與上位機(jī)算機(jī)進(jìn)行連接，來構(gòu)造出一種多級(jí)式分布系統(tǒng)。

　　1

　　舉個(gè)例子

　　三菱工業(yè)電機(jī)中的CC-Link構(gòu)建的一種開放性面向現(xiàn)場(chǎng)控制的總線網(wǎng)路系統(tǒng)，DIN是德國工業(yè)標(biāo)準(zhǔn)，使用導(dǎo)軌是工業(yè)電氣元器件的一種安裝方式，安裝支持此標(biāo)準(zhǔn)的電器元器件可方便地卡在導(dǎo)軌上而無需用螺絲固定，維護(hù)也很方便，一般來說，常用的導(dǎo)軌寬度是3.5CM。現(xiàn)如今，很多的電器元器件都有采用這種標(biāo)準(zhǔn)，比如有PLC、斷路器、開關(guān)、接觸器等。

　　工業(yè)機(jī)器人不是孤立工作的，一個(gè)機(jī)器人工作站，往往需要外圍設(shè)備的配合，比如工裝夾具、傳送帶、焊接變位機(jī)、移動(dòng)導(dǎo)軌等等，這些角色相互之間要怎么配合，就需要互相協(xié)調(diào)。比如AGV小車、自動(dòng)化立體倉庫、噴涂設(shè)備、裝配設(shè)備等等。

　　2

　　工業(yè)機(jī)器人的自動(dòng)控制系統(tǒng)

　　1、底層控制器

　　底層控制器作為控制系統(tǒng)的核心，其選擇的合適與否對(duì)整個(gè)系統(tǒng)來說十分重要，其性能直接影響了控制系統(tǒng)的可靠性、數(shù)據(jù)處理速度、數(shù)據(jù)采集的實(shí)時(shí)性等。移動(dòng)機(jī)器人運(yùn)行環(huán)境較惡劣，干擾源眾多，對(duì)運(yùn)動(dòng)控制器的實(shí)時(shí)性和可靠性要求較高，所以選擇一種穩(wěn)定可靠地運(yùn)動(dòng)控制器至關(guān)重要，既要滿足系統(tǒng)要求，又要具有良好的可擴(kuò)展性和兼容性。

　　為實(shí)現(xiàn)機(jī)器人對(duì)外部設(shè)備的有效控制，底層控制器提供了相應(yīng)的設(shè)備底層控制函數(shù)，這些控制函數(shù)可以直接訪問機(jī)器人的硬件寄存器來控制機(jī)器人的運(yùn)行，而這些控制函數(shù)可以使得設(shè)備驅(qū)動(dòng)程序不再依賴于具體硬件，所以，通過調(diào)用控制函數(shù)接口就可以實(shí)現(xiàn)對(duì)機(jī)器人的有效控制。

　　2、電氣系統(tǒng)

　　在對(duì)輪式全向移動(dòng)機(jī)器人控制系統(tǒng)硬件進(jìn)行選型以后，根據(jù)移動(dòng)機(jī)器人的硬件組成進(jìn)行電氣系統(tǒng)設(shè)計(jì)。移動(dòng)機(jī)器人的電氣系統(tǒng)主要包括三個(gè)部分：主電路、伺服驅(qū)動(dòng)系統(tǒng)電路和PLC控制系統(tǒng)電路。

　　移動(dòng)機(jī)器人控制系統(tǒng)主電路通過PLC和繼電器實(shí)現(xiàn)控制。即由繼電器由線圈和輔助觸點(diǎn)兩部分組成。當(dāng)線圈通電的時(shí)候，其對(duì)應(yīng)的常開觸點(diǎn)閉合，常閉觸點(diǎn)斷開。

　　3、I/O配置段

　　I/O配置段包括I/O刷新周期(典型為4ms)和I/O數(shù)據(jù)映像區(qū)大小信息，通過軟PLC編程系統(tǒng)的工程配置模塊進(jìn)行可視化配置，以適應(yīng)不同機(jī)器人應(yīng)用程序?qū)�I/O設(shè)備的不同需求。其主要是機(jī)器人將其他信號(hào)作為末端執(zhí)行器I/O使用，末端執(zhí)行器I/O鏈接到機(jī)器人手臂末端的連接器上，保證其功能。

　　4、PLC程序

　　在底層控制器中，使用編程軟件STEP 7 PROFESSIONAL V12的PTO運(yùn)動(dòng)控制指令，使用位置控制方式，控制4個(gè)轉(zhuǎn)向伺服電機(jī)，從而控制4個(gè)車輪的轉(zhuǎn)向角；另外，使用擴(kuò)展模擬量輸出模塊輸出電壓值，控制4個(gè)輪毅電機(jī)，驅(qū)動(dòng)機(jī)器人運(yùn)動(dòng)。排除硬件的因素外，程序的好壞直接決定著運(yùn)動(dòng)性能的高。因此程序的編寫是整個(gè)設(shè)計(jì)中最為重要的環(huán)節(jié)之一。

　　3

　　PLC要滿足工業(yè)機(jī)器人的高性能要求還有待改善

　　機(jī)器人控制器可以理解為完成機(jī)器人控制功能的結(jié)構(gòu)實(shí)現(xiàn)，因此機(jī)器人控制器是機(jī)器人最為核心的“心臟”，它從一定程度上影響著機(jī)器人的發(fā)展，高性能的工業(yè)機(jī)器人不單要實(shí)現(xiàn)PTP控制，而且還要實(shí)現(xiàn)CP控制。雖然說，采用基于PC的運(yùn)動(dòng)控制器和基于DSP運(yùn)動(dòng)控制器能夠?qū)崿F(xiàn)機(jī)器人的運(yùn)動(dòng)控制，但是卻無法滿足高性能工業(yè)機(jī)器人的各項(xiàng)要求指標(biāo)，而電路設(shè)計(jì)以及編程相當(dāng)復(fù)雜，因此，PLC的控制接線完善和技術(shù)創(chuàng)新是一大難題。

　　PLC控制接線簡(jiǎn)單，只要通過運(yùn)動(dòng)控制指令就能實(shí)現(xiàn)對(duì)機(jī)器人的運(yùn)動(dòng)控制，因此，PLC想要在機(jī)器人多軸運(yùn)動(dòng)協(xié)調(diào)控制、網(wǎng)絡(luò)通訊方面取得優(yōu)勢(shì)，還是需要一定的時(shí)間。因?yàn)楦咝阅芄�業(yè)機(jī)器人主要是各關(guān)節(jié)的驅(qū)動(dòng)運(yùn)動(dòng)，不單單是實(shí)現(xiàn)PTP、CP的控制，還要達(dá)到在多軸協(xié)調(diào)控制、速度、加速度、運(yùn)動(dòng)精度等方面的要求。

　　目前，在PLC中，日本立石公司的PLC和ABB公司的PLC在微小型控制方面功能強(qiáng)大；等西門子公司的PLC雖然具備運(yùn)動(dòng)控制的功能，但遠(yuǎn)遠(yuǎn)不及MITSUBISHI PLC，因?yàn)镸ITSUBISHI PLC結(jié)合物聯(lián)網(wǎng)及高科技術(shù)，使之具有完整的運(yùn)動(dòng)控制功能，通過高速度的背板，處理器與伺服接口模塊可以進(jìn)行通訊，從而實(shí)現(xiàn)高度的集成操作及位置環(huán)和速度環(huán)的閉環(huán)控制。達(dá)到從簡(jiǎn)單的點(diǎn)到點(diǎn)的運(yùn)動(dòng)到復(fù)雜的齒輪傳動(dòng)，來滿足高性能工業(yè)機(jī)器人的要求。
 

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RSI Software Products 9301-2SE3500ZHU2 RSVIEW32 RUNTIME 1500-100K UPGRADE IN-SUPT (ZH)

RSI Software Products 9356-STD2350U3R UPGRADE: OUT-SUPT: RSSQL STD 1500 TO STD 5000 TAG

Motion Control Y-2006-1-H04AA MOTOR,SERVO,0.69 NM,4500RPM,ENCDR,115V,BRK,2.36KG

5209A Message Display. 2 Line. 11MM. Green VFD. ASCII/Serial Interface. NEMA 4

IC200CPU005 CPU WITH CONFIGURABLE USER MEMORY 0.8 MSEC/K BOOLEAN ONE RS232 SERIAL PORT ONE RS485 SERIAL PORT

IC694MDL940 OUTPUT MODULE RELAY 2AMP 16 POINTS

MSI-WEB-5 Web or Excel Reporting Clients 5 Pack

VSPCSE-MAN Printed Manuals for VisualSPC SE.

20BD052A3AYNANA0 PowerFlex 700 AC Drive 52 A 40 Hp 20B

20G11LD1K0AN0NNNNN PowerFlex 755 AC Packaged Drive

22D-E4P2N104 PowerFlex 40P- 2.2 kW (3 HP) AC Drive

467NHP81100 Quantum 467 NHP 811 00-PC/DP包

291D-FAZ-G3-3FR Direct Online Reversing Starte

G3NA-210B 固態(tài)繼電器 額定電壓5-24VDC,負(fù)載AC24-240V 10A

1492-SPM2D020 MCB Supplementary Protector 2 A

軟啟動(dòng)器 3RW30372BB04

電機(jī)啟動(dòng)器 3VU16400CK00

150-F25NBDB SMC Flex Smart Motor Controller

1732E-16CFGM12R ArmorBlock 16 Point Configurable

1771-P7 1771 Power Supply

193-EEEP E1 Plus 5.4-27 A IEC Overload Relay

199-MSMV3 Surge Suppressor

2090-CPWM7DF-08AF09 9 m Length SpeedTec Pwr and Brake Cable

2097-PGMR Kinetix 300/350 Memory Module Programmer

ENHSAURR8 Waterproof Machine Mount, 8 Port Switch

GFK-1535 Manual VersaMax Genius Network Communications

IC220ALG321 ANALOG OUT, 16 BIT, VOLTAGE, 1CH (REQUIRES 1 IC220TBK061)

IC647CSAS00 SAIC CIMPLICITY Server Site License (For SAIC Only)

IC647PRTPRFYM Proficy Portal SQL Connector for use with other Proficy products (M4 Key)

IC693LBR301 90-30 Documentation Library (paper manuals covering most options)

IC756ADV010E-97 DV Draw Development on AIX Op Sys, English, Version 9.7

MSI-MAINT-UNL 7 Day x 24 Hour Support

PLC-5/1771 System

Distributed I/O 1738-OV4EM12 24VDC 4 SINKING OUTPUTS WITH M12 CONNECTORS

Communications 1785-KA5 COMMUNICATION MODULE DATA HWY PLUS TO DATA HWY 485

Operator Interface 2711-NV3T ANTIGLARE OVERLAY PV900 TOUCH

Support 9302-SMDS SUPT RENEWAL CONTRACT FOR 9302SMD

Support 9324-RL5300PTS SUPT RENEWAL CONTRACT FOR 9324RL5300PT

DeviceNet Products 2706-P72CN2 INVIEW MESSAGE DISPLAY. 1 TO 4 LINE

RSI Software Products 9301-2SE335ESU2R RSVIEW32 RUNTIME 300-5K UPGRADE OUT-SUPT (ES)

RSI Software Products 9371-EDES1 RSWIRE DESIGNER JIC STAND ALONE

Motion Control MPG-A025-031S24 MOTOR,SERVO,GEAR RATIO 31,100NM,168RPM,SINGL,BRK

Silver Series 1789-SL52 SOFTLOGIX5 NT-BASED CONTROLLER, 2 COMM CHANNELS

HE693RTD660 6 channel RTD input module for Series 90-30 with 700VDC bus-isolation and 0.05癈 resolution.

IC670ALG230 Analog Input Current 8 Pt. Grouped

QPICTAE0000 10.4" Color TFT, TCP, Ethernet, CF Card, 110VAC

ST-5422 STXi PWM Out module, 2A/24V, Source, 2 Channels 2.5Khz

20BC205A0AYNANC1 PowerFlex 700 AC Drive 20B

20F1ANC170AA0NNNNN PowerFlex 753 AC Packaged Drive

22B-A8P0N104 PowerFlex 40- 1.5 kW (2 HP) AC Drive

140DDI84100 Quantum 開關(guān)量 DC 輸入, 16點(diǎn), 10-60 VDC, 8組隔離

284D-FVD4P0D-10-CR-EMI DeviceNet Variable Frequency Drive

E3S-DS30E4 30cm,擴(kuò)散反射式,晶體管輸出80mA, 電源:12-24VDC

1492-SM5X10 IEC 5 x 10 mm Marker Card

人機(jī)界面 6AV6542-0AG10-0AX0 MP270B 鍵控，256 色，10.4 英寸，640? 480

6ES73311KF024AB1

1497B-A3-M12-0-N Control Power Transformer

1606-XLS480EC AC or DC In 24 to 28VDC Out 480W CC PS

1769-IF4 CompactLogix 4 Pt A/I C and V Module

189-ALOA2 MCB Accessory Lockout Attachment

194R-HM4 194R 100-400-625 A Operating Handle

2090-CPBM7DF-14AA01 MP-Series 1m Standard Cable

2090-XXNPMP-16S40 MP-Series 40 m Length Power Cable

CBL-34-MP-20 Power cable for MTR-3N or MTR-3S30 or MTR-3S43-H series servo motors. 20 feet

GF-0220R Connecting FlashCable to Brown & Sharpe Digit Dial, Fowler Ultra Digit , Mahr.

IC200TBX223 Tool box, 23 point, (IC200UAL006) 24VDC In/Relay Out, AC powered (requires AC power), VersaMax SE (IC200SET001) with all software, cables and manuals. (IC640VPS002 and IC646MPM001)

IC646TBSPMPS900 Smart Process Monitoring Process+ server 900 loops

IC647NSL005 Proficy SQL 2005 - 5 Client Access Licenses (order as separate item, not an option)

IC693ACC335 Axis terminal block for the DSM302 or DSM314

IC752CBT003RR Datapanel 320T MB (Mono Base) with Advanced software: 320x240 1/4 VGA Monochrome LCD with 80386SX/40 PC processor. Analog touch screen with text, bitmaps, bar graphs, real time clock. With Real Time Trends & H ost Communications.

IC800VMCP200 Power cable for 100 W to 750 W VersaMotion servo motors- 20 meter

SLC/1746 System 1746-FIO4V (2) FAST ANALOG INPUTS, (2) ANALOG VOLTAGE OUPUTS

Industrial Computers 6189V-CDRW CD DRIVE WRITEABLE

Application-specific products 1403-BA BATTERY, LITHIUM FOR POWERMONITOR

Operator Interface 2711-B6C5L1 PV600 COLOR KEY&TOUCH, RS232 (DH485)

Support 9301-2SE2400FRS SUPT RENEWAL CONTRACT FOR 93012SE2400F

Support 9307-EMDB1CR SUPT REINSTATEMENT CONTRACT FOR 9307EMDB1C

DeviceNet Products 1734-IM2 230 VAC 2 CHANNEL INPUT MODULE

RSI Software Products 9301-2SE250ZHU5R RSVIEW32 WORKS 5K-100K UPGRADE OUT-SUPT (ZH)

RSI Software Products 9358-BNT60UB1R UPGRADE: OUT-SUPT: RSBATCH 60 UNITS TO BUNDLE

Motion Control MPL-B330P-RK24AA MOTOR,SERVO,4.18 NM,5000RPM,RSLVR,460V,BRK

Motion Control 2090-U3CBB-DM12 BREAKOUT BOARD,CN1,ULTRA3000 DRIVE MOUNTED,24-5V C

GFK-0727 State Logic Processor for 90-70 PLC User's Guide

IC646FXMU03 Proficy Change Management 3 Users System

MSCPX-425606W2 Marathon Exp CPU,850 MHz CPU, 128M, 6G, Win 2000, 2 PCI/ISA, 1 PCI, 1 ISA

PSPC-DC50L Prof Shop Floor SPC DC 50 User

20BC015A3AYNANC0 PowerFlex 700 AC Drive 20B

20F11FC3P5JA0NNNNN PowerFlex 753 AC Packaged Drive

2198-KITCON-P208 Kinetix 5700 85mm Bus Supply Connectors

2711P-RBT12 PanelView Plus Accessory

280-RT35 M35 To M22 Power Tee Reducing Drop

CQM1-OD211 輸出 8點(diǎn).晶體管NPN 24V DC 2A

1492-N39 TERM BLCK 50 Pole Side Jumper

接口模塊 6ES7361-3CA01-0AA0 IM361,接口模塊，用于擴(kuò)展機(jī)架

行程開關(guān) 3SE53223SJ23

TIA 博途 WinCC 選件 6AV2107-2KM00-0BD0 SIMATIC WinCC WebNavigator for Runtime Professional Powerpack 50 -> 100 Clients

1585J-M8HBJM-8 RJ45 Ethernet Media