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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。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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20AC022C3AYYANC0 PowerFlex 70 AC Drive 22 A at 11 kW 20A

GA647WFL050 Proficy GlobalAssist Complete for Proficy Workflow - 50 User License

GPA-602-F7 LVDT Expansion Unit (Full Bridge for Marposs), includes G-0602 connect ing cable.

IC600CP620RR 19 inch Series Six Plus CPU 115-230Vac Power Supply (11 Slots)

IC647HSTCSEO250KM eSignature Option for Historian - Enterprise Corporate Server 250000 Points (M4 Key)

IC647WFLARM001 PWFL -SCADA Alarm Response Management 1 User License

IC694ALG221CA Conbal Coated Input module, analog 4 point current.

IC756RDV010J-98 DV Draw Development on IRIX Op Sys, Japanese, Version 9.8

MicroLogix 1200 System 1762-IQ8 8 POINT 24 VDC SINK/SOURCE INPUT MODULE

PLC-5/1771 System 1771-M3 SERVO CONTROLLER MODULE,(1) INCLUDED W/ 1771-QC

Distributed I/O 1794-OB16 24V DC SOURCE OUTPUT MODULE, 16 POINT

Communications 9399-INTDCUUG INTERCHANGE DEVICE CONFIG. UTILITY USER'S GUIDE

Operator Interface D6195-6.5.6 CONTROLVIEW BUILDER SPC CONFIG. USER MANUAL

Support 9358-BERP03S SUPT RENEWAL CONTRACT FOR 9358BERP03ENE

Support F1771-ACNSERB FIRMWARE UPGRADE FOR 1771-ACN I/O MODULE

RSI Software Products 9324-RL0LDRENE RSLADDER VIEWER FOR SLC500

RSI Software Products 9301-2SE350ESU2R RSVIEW32 RUNTIME 1500-100K UPGRADE OUT-SUPT (ES)

RSI Software Products 9358-HSTS2350U2R UPGRADE: OUT-SUPT: HISTORIAN 300 TO 5K TAG

Motion Control 0041-5072 TEFLON SHAFT SEAL KIT FOR USE ABOVE FOOD LINES

6216A-SI Mini Workstation. 6 (.43") Chars, Red LED Display. Sourcing Outputs. NEMA 4

IC200MDD845 MIXED OUTPUT RELAY 2.0A PER PT ISO 8PT / INPUT 24VDC POS LOG GRP 16PT

IC697ACC624 230VAC SLIM fan tray for the Series 90 70 or RX7i slim racks.

MTR-1221-E-D-E-0 MTR series NEMA 23 stepping motor with encoder. Winding connection type is determined by cable

Z44A730464-G18 Motor power right angle connector for B2/3000 or B6/2000 or A6/3000 or B8/3000is or B12/3000is servo motor

20BD077A3ANNADA0 PowerFlex 700 AC Drive 77 A 60 Hp 20B

20G11NC030JA0NNNNN PowerFlex 755 AC Packaged Drive

22F-B2P5N103 PowerFlex 4M- 0.4 kW (0.5 HP) AC Drive

990NAD23021 Quantum Modbus Plus Super Tap

294D-FD1P5P-G1 Variable Frequency Drive

PFP-50N 導(dǎo)軌 0.5米

1492-SPM3B005-N MCB Supplementary Protector 0.5 A

軟啟動器 3RW40242BB14

電機(jī)啟動器 3VU16402CJ00

150-F361NZD SMC Flex Smart Motor Controller

1734-485ASC POINT I/O RS-485/422 ASCII Interface

1771-WN 1771 Field Wiring Arm

193-EEVF E1 Plus 55-110 A Overload Relay

20-750-BUS3-F10 PF755 FR10, IP00, OUTPUT TERMINATION KIT

2090-CPWM7DF-10AA25 MP-Series 25m Servo Power Cable

2097-V33PR3 Kinetix 300 Servo Drive

ET-GT-5ES-3SC 4 RJ45 Ports, 1 Singlemode Fiber Port Ethernet Switch

GFK-2028 Datapanel Models 150/160 and 240E Operator's Manual

IC220MDL641 INPUT, 24VDC POSITIVE LOGIC, 2PT (REQUIRES 1 IC220TBK082)

IC647DMB001 DataMart BI Connector

IC647PWR001 Proficy Power SCADA for Small Substation

IC693MDL241CA Conbal Coated Input 24 VAC 16 points.

IC756CDV001E-98 DV Development - Compaq True64 Op Sys Addt'l User, English, Version 9. 8

MSI-PROD Product Management Clients (Additional)

PLC-5/1771 System 1785-L80B PLC-5/80 CONTROLLER, 100K WORD SRAM

Distributed I/O 1738-EXT1 ARMORPOINT 1 M BUS EXTENSION

Communications 1784-PCC CONTROLNET PCMCIA COMMUNICATION CARD

Operator Interface 2711E-NA2 COMM CARD ADAPTER FOR PANELVIEW 1000E TERMINAL

Support 9304-WVPR300S SUPT RENEWAL CONTRACT FOR 9304WVPR300

Support 9324-RLD25U7ESE RSLOGIX 5000 LITE SPANISH TO PRO UPGRADE

DeviceNet Products 2711-K6C10 PV600 COLOR KEY, DNET & RS232 PRINT

RSI Software Products 9301-2SE3400 RSVIEW32 RUNTIME 32K

RSI Software Products 9371-EDETIAC RSWIRE DETAILER/IEC FOR AUTOCAD 14-14.01

Motion Control MPG-B025-091S24 MOTOR,SERVO,GEAR RATIO 91,100NM,65RPM,SINGL,BRK

Silver Series 2711-T14C3 PV1400 COLOR TOUCH, DH485 & RS232 PRINT

HE693STP310 Three Axis (multiplexed) indexer module w/1 axis incr. encoder feedback

IC670MDL642 125VDC Pos./Neg. Logic Input 16 Pt. Grouped

QPJ2D101S2P QUICKPANEL 5" STN WITH CE MARK

ST-8371 STXi numbered markers 100 pieces

20BC2P1A3AYNADC0 PowerFlex 700 AC Drive 20B

20F1ANC456AA0NNNNN PowerFlex 753 AC Packaged Drive

22B-B5P0F104 PowerFlex 40 0.75 kW (1 Hp) AC Drive

140DDO15310C Quantum 開關(guān)量DC輸出,32點(diǎn),5VDC,4組隔離,0.5A/點(diǎn),C

284D-FVD7P6Z-25-CR DeviceNet Variable Frequency Drive

E3S-X3CE4 光纖放大器, 晶體管輸出 NPN 80mA, 電源:12-24VDC

1492-SPM1B080-N MCB Supplementary Protector 8 A

直流電源 6EP1321-1SH02 100/240VAC 輸入，12VDC/1.9A 輸出

6ES78221AA000YL5

1497D-A11-M21-0-N 1En Purpose Transber

1606-XLSBATBR1 1606 Power Supply

1769-L24ER-QB1B CompactLogix 750KB DI/O Controller

190E-AND2-CB40C 2.5-4.0 A Economy Starter W/Ckt-Bkr

194R-J60-1753-PYN2 194R Disconnect Switch

2090-CPBM7DF-14AF09 MP-Series 9m Continuous-Flex Cable

2090-XXNPT-16S07 Kinetix Drives 07m Standard Cable

CBL-3T-MP-10 Power cable for MTR-3T50 or MTR-3T60 series servo motors. 10 feet

GF-0912R Connecting FlashCable to Fowler Sylvac, Metronics, Mettler, Omega, Tol edo.

IC200UAL006 23 point PLC,(13) 24VDC In, (9) Relay Out, (1) 24VDC Out, (2) Analog I n and (1) Analog Out, 120V/240AC Power Supply. Battery (IC200ACC403) is required for data retention. Battery not included.

IC646TDV150 150 I/O Point Development System

IC647NWV025 CIMPLICITY HMI WebView 25 User