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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)造出一種多級式分布系統(tǒng)。

　　1

　　舉個例子

　　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?，F(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整個系統(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)時性等。移動機(jī)器人運(yùn)行環(huán)境較惡劣，干擾源眾多，對運(yùn)動控制器的實(shí)時性和可靠性要求較高，所以選擇一種穩(wěn)定可靠地運(yùn)動控制器至關(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)對機(jī)器人的有效控制。

　　2、電氣系統(tǒng)

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

　　移動機(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)線圈通電的時候，其對應(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)/O設(shè)備的不同需求。其主要是機(jī)器人將其他信號作為末端執(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)動控制指令，使用位置控制方式，控制4個轉(zhuǎn)向伺服電機(jī)，從而控制4個車輪的轉(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個輪毅電機(jī)，驅(qū)動機(jī)器人運(yùn)動。排除硬件的因素外，程序的好壞直接決定著運(yùn)動性能的高。因此程序的編寫是整個設(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)動控制器和基于DSP運(yùn)動控制器能夠?qū)崿F(xiàn)機(jī)器人的運(yùn)動控制，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控制接線簡單，只要通過運(yùn)動控制指令就能實(shí)現(xiàn)對機(jī)器人的運(yùn)動控制，因此，PLC想要在機(jī)器人多軸運(yùn)動協(xié)調(diào)控制、網(wǎng)絡(luò)通訊方面取得優(yōu)勢，還是需要一定的時間。因?yàn)楦咝阅芄I(yè)機(jī)器人主要是各關(guān)節(jié)的驅(qū)動運(yùn)動，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)到從簡單的點(diǎn)到點(diǎn)的運(yùn)動到復(fù)雜的齒輪傳動，來滿足高性能工業(yè)機(jī)器人的要求。
 

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Industrial Computers 6182H-7BEH6B VVCE 700, KEY/TOUCH, EXT MEM, RIO/DH, AC

Process Control 9358-BHIST03ENE RSBIZWARE BATCHHISTORIAN - 1-3 BATCH SERVERS

Operator Interface 2711P-B15C6D2 PV PLUS 1500, KEY/TOUCH, RIO/DH, DC PS, EXT MEM

Support 9240-WIN16RTR SUPT REINSTATEMENT CONTRACT FOR 9240WIN16RT

Support 6723-PCOS SUPPORT RENEWAL CONTRACT FOR 6723-PCO

Support F5130-KA FIRMWARE UPGRADE FOR 5130-KA PLC5250 PROCESSOR MOD

RSI Software Products 9301-2SE2350ZHE RSVIEW32 WORKS 5K (CHINESE)

RSI Software Products 9351-HPUSRT INTERCHANGE FOR HP-UX RUNTIME

RSI Software Products 9399-WGSUG RSSERVER FOR GE FANUC SERIES 90 USER'S GUIDE

Motion Control 8720MC-RPS190BM MASTER 460V 190AMP RPS

BC646MRE000 Logic PC & View Runtime (HRT) 8,000 I/O

IC300RTD000 2 channel RTD Inputs (Pt-100, Pt-200, Pt-500, Pt-1000), 18 bit

IC754VKI06STD Starter Kit - 6" Color-STN QuickPanel View Intermediate, Touch, 24VDC

MTR-3T57-G-R-B-M-0RR Servo Motor Metric 24V Brake

20AD-DB1-B PowerFlex 70 Resistor Kit

20DC037A0EYNANANE PowerFlex 700S AC Drive 20D

20G1ANC260AA0NNNNN PowerFlex 755 AC Packaged Drive

25B-V2P5N104 PowerFlex 525 0.4kW (0.5Hp) AC Drive

280-M22F-M1 ArmorConnect M22 Female Receptacle

FR-F740-11K 17.5KVA 23A 11KW 3相AC380V/50Hz/60Hz

1492-LG3T IEC Term Blck 5.1x64.5x31.3mm Spr Clp

1494F-V4 Combination Starter Door Hardware

軟啟動器 3RW44362BC46

ET 200SP 6ES7132-6BF00-0BA0 DO 8x24VDC/0,5A 標(biāo)準(zhǔn)型，基座單元類型 A0

1585D-E4UBDE-20 1585D Ethernet Media Patchcord

1753-L32BBBP-8A GuardPLC 1800 Safety Controller

1794-IE4XOE2XT Flex XT 4 Input 2 Output Analog Module

194E-AA40EX-TN-PE 194E Load switch

2080-LC30-24QVB Micro830 24 I/O Controller

2090-CSWM1DF-18AA05 Kinetix 5m Smartb Single Cable

20AC3P5A3AYNNEC0 PowerFlex 70 AC Drive 20A

GC646MPT001 Proficy GlobalCare Complete GE Compare

HE693RTD601 RTD Input, 6 channel, 3-wire, 0.125C res., -100 to +260C range (Pt-1 00)

IC610MDL101RR 24Vdc Sink Input (8 points)

IC647HSTSC750KM Server to Server Collector for Historian - Standard Server 750,000 Points (M4 Key)

IC660BBD021RR 24/48Vdc Sink I/O Block, 16 Circuit, Ph B

IC694PWR330 Power Supply 120/240 Vac 125 Vdc High Capacity

IC756WDN009E-99 DV Development Sys VB, Java, C++, C, English, Version 9.9

MicroLogix 1500/1769 System 1769-RTBN10 REPLACEMENT 10 PIN NEMA TERMINAL BLOCK (1 PER KIT)

PLC-5/1771 System 1771-P5K CONFORMALLY COATED,POWER SUPPLY,SLOT,8A,24V DC

Distributed I/O 1798-OB8E FLEXARMOR 8 POINT 24VDC SOURCING OUTPUT MODULE

Operator Interface 2711P-B6M5D PV PLUS 600 GRAYSCALE, KEY/TOUCH, RS232, DC PS

Support 9323-PA2SR SUPT REINSTATEMENT CONTRACT FOR 9323PA2S

Support 9358-PB30S SUPT RENEWAL CONTRACT FOR 9358PB30ENE

Support F1772-LZSERD FIRMWARE UPGRADE FOR 1772-LZ PLC2 PROCESSOR MODULE

RSI Software Products 9324-RLD6U7ITE RSLOGIX 5000 FULL TO PRO UPGRADE, ITALIAN

RSI Software Products 9305-RSVADFVCESE RSVIEW32 ACTIVE DISPLAY FLOAT. VIEW CLNT (SPANISH)

RSI Software Products 9301-PCI2000ETH APPLICOM PCI2000ETH ETHERNET INTERFACE 1 PROTOCOL

Motion Control 2094-BMP5 MODULE, AXIS, 400/460V, 4A INV.

A06B-0371-B577#7008 A1/3000 Servo Motor, 64K Serial Encoder

IC200UEC108 VersaMax Micro Expansion 8 point combination (4) 24VDC In, (4) 24VDC Output Source, SNK Out Expansion, 24DCPS

IC752CBT050RR Datapanel 320T CB (Color Base): 320x240 1/4 VGA Passive Color with 80386SX/40 PC processor. Analog touch screen with text, bitmaps, bar graphs, real time clock.

MTR-1N41-G-E-A-E-0RR Stepping Motor Nema42

ZA06B-0128-B575#7076 A6/3000 servo motor with IP67 sealing and 64k serial encoder

20BD5P0A3AYNACC0 PowerFlex 700 AC Drive 5 A at 3 Hp 20B

20G14GD125AN0NNNNN PowerFlex 755 AC Packaged Drive

25-PM1-D6P0 PowerFlex 520 2.2kW (3Hp) Power Module

771BSS47101 Quantum CONCEPT S 版注冊服務(wù)

FRN2.2E1S-2J 4.1KVA 11A 2.2KW 3相AC220V/50Hz/60Hz

A20B-0005-0611

1492-SPM3D040-N MCB Supplementary Protector 4 A

軟啟動器 3RW40281TB04

SIMATIC HMI 系列面板 6AV2123-2GA03-0AX0 KTP700 Basic DP 7 寸觸摸 + 按鍵

150-SD3NBR SMC-50 SOLID STATE MOTOR CONTROLLER 520A

1738-ADNX ArmorPoint DeviceNet Network Adaptor

1783-ZMS16TA ArmorStratix 5700 16 port managed switch

193-KA25 0.16-.25 A IEC Bibllic Overload Relay

20-750-NEMA1-F7 PowerFlex 750 Frame 7 Conduit Box Kit

2090-CPWM7DF-16AF15 MP-Series 15m Length Power Cable

20AB022C3AYNANC0 PowerFlex 70 AC Drive 22 A at 7.5 Hp 20A

GA647IFPLDV00075 GCA iFIX Plus SCADA 75 I/O Dev

GP647IFCLNTCRO001 GCP iFIX iClient Read Only 5 PK Keyless Runtime Version

IC600BF811RR 5VTTL/10-50Vdc Input Module

IC647HSTCC30KM Calculation Collector for Historian - Standard Server 30000 Points (M4 Key)

IC647TBPC TBP:Texas Instrument Transparent Byte Protocol

IC693MDL930 Relay Output, Isolated, 4 Amp (8 Points)

IC756LDV001E-97 DV Development - Inb/Linux RedHat Addt'l User, English, Version 9.7

Pico Controllers 1760-CBL-INT05 PICO-LINK CONNECTIVITY CBL 1.5M 1 PCS/PACK

PLC-5/1771 System 1771-OG TTL OUTPUT MODULE

Distributed I/O 1791-16B0 BLOCK I/O, 24V DC, 16 POINT MODULE (16 INPUT)

Communications 1786-TNCJ4 CONTROLNET TNC COAXIAL CONN - JACK TO JACK

Operator Interface 2707-MVH232 MICROVIEW, HAND-HELD, 2 LINE LCD, RS-232

Support 9701-VWSS100AR SUPT REINSTATEMENT CONTRACT FOR 9701VWSS100AENE

Support 9324-RL0100ITS SUPT RENEWAL CONTRACT FOR 9324RL0100IT

EtherNet/IP Products 1734-AENT 24V DC ETHERNET ADAPTER

RSI Software Products 9301-2SE340ZHU2R RSVIEW32 RUNTIME 300-32K UPGRADE OUT-SUPT (ZH)

RSI Software Products 9356-PRO2450U1R UPGRADE: OUT-SUPT: RSSQL STD.150 TO PROF.32000 TAG

Motion Control F-4075-R-H04AN MOTOR,F-,NEMA 56C W/24V BRAKE,82 IN LB CONT.