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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)對機(jī)器人的有效控制。

　　2、電氣系統(tǒng)

　　在對輪式全向移動(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(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控制接線簡單，只要通過運(yùn)動(dòng)控制指令就能實(shí)現(xiàn)對機(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，還是需要一定的時(shí)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(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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Process Control 9358-PBEPB60ENE RSBIZWARE BATCH & EPROCEDURE BNDLE PLX 60 UNITS

Operator Interface 2711P-RAK12E PVP/VVCE1250 KEY/COMB TO PV1200/1400E KEY ADAPTER

Support 9352-WM9300R SUPT REINSTATEMENT CONTRACT FOR 9352WM9300

Support 9330-RSRRTENR SUPT REINSTATEMENT CONTRACT FOR 9330RSRRTEN

ControlNet Products 1786-TNCL10 CONTROLNET TNC COAXIAL CONNECTOR - PLUG

RSI Software Products 9301-2SE235JPU2R RSVIEW32 WORKS 300-5K UPGRADE OUT-SUPT (JP)

RSI Software Products 9355-WABCEU2R UPGRADE: OUT-SUPT: 9351WKTS TO RSLINX C SDK CD

Motion Control MPL-A310F-SJ24AA MOTOR,SERVO,1.58 NM,3000RPM,SINGL,230V,BRK,4.1KG

Motion Control 2090-DANFCT-S02 CABLE, NF, MTR FBACK FOR CABLE-MTD CONN, T, 02M

BC647MBS001 Machine Edition Standard Development Suite with Proficy GlobalCare Complete and a hardware key

IC320CGM562 PCI CsCAN Interface Board, 2 channel. Bundled with CsCAN OPC Server.

IC800CBL063 A30/3000 and A40/2000 Motor Power Cable, 14 Meters

OC647APS30050 CSense Predictive Soft Sensor 50 KPI's

PCIe-6353

HSB-681-02

PCA-6180E2

AT-FS708

PCA-6114P4E

PCL-727

1492-M5X10H51-60 Connection Products

1494H-BF3N Heavy Duty Non-Fus Safety Discon Switch

軟啟動(dòng)器 3RW44446BC44

ET 200SP 6ES7134-6PA00-0BD0 AI 電能測量，400VAC，標(biāo)準(zhǔn)型，基座單元類型 D0

1585D-M4TBDM-1 Micro D-Code, QD Style Ethernet Media

1756-CNBR ControlLogix Communication Module

1794-NM1 Flex I/O Accessories

194E-CA32E-P11 194E Load switch

2080-TRIMPOT6 Micro800 6 Point Trim Pot Plug-In

2090-DAIO-D5003 Kinetix 3m Non-Flex Cable

20AC5P0A3AYYAEC0 PowerFlex 70 AC Drive 5 A at 2.2 kW 20A

GC646MSS001 Proficy GlobalCare Complete for Logic Developer - State Standard

HE693TCUCBL Cable, for Thumbwheel Interface Unit, (6 ft.)

IC630CHS308RR Base Unit, 8 Slots

IC647HSTSS300M-35 Historian v3.5 Standard Server 300 Points (M4 Key)

IC660BCM501 Hand-Held Monitor Battery Charger

IC695ALG608CA Conbal Coated Analog Input Module, 8 Channel voltage/current. Module does not include terminal block.

IC756WDV009CT-22 DV Development Sys Visual Basic, Traditional Chinese, Version 2.2

CompactLogix System 1769-IF4XOF2 8 BIT RESOLUTION, HIGH SPEED 4 IN/2 OUT ANLG. COMB

PLC-5/1771 System 9399-FW5DDGR RSLOGIX FRAMEWORKS DIAGRAM DEV. GET'G RESULTS GUID

Distributed I/O 1799-DSCCON D-SUB(50) I/O MATING CONNECTOR (CRIMP)

Operator Interface 2711P-T6C20D PV PLUS 600 COLOR, TOUCH, ETHERNET, DC PS

Support 9341-L5200R SUPT REINSTATEMENT CONTRACT FOR 9341L5200

Support 9358-PBEPB60S SUPT RENEWAL CONTRACT FOR 9358PBEPB60ENE

Support F1779-KFMRSERA FIRMWARE UPGRADE FOR 1779-KFMR COMMUNICATION MODUL

RSI Software Products 9301-2SE2100ZHE RSVIEW32 WORKS 150 (CHINESE)

RSI Software Products 9701-VWMR075AFRE RSVIEW ME STATION RT 75 DISP-WINDOWS 2000 (FRENCH)

RSI Software Products 9363-PORTAL RSPORTAL SERVER APPLICATION

Motion Control 2098-DSD-030X DRIVE, 15A/30A, ULTRA3000 W/INDEXING

A81L-0001-0101#C Ac Line Filter, 10.5 KW

IC200UEX636 6 channel Analog expansion. (4) Analog bs & (2) Analog outputs. 120/240 VAC Power Supply (includes IC200CBL501)

IC752DEM002 Mature Products, order QuickPanel instead. DataPanel Demo Kit C

MTR-3S22-G-R-0-N-SRR Servo Motor Nema23 Flg with Seal

NI 9476

JUKI-745E-LVDS01

ADAM-4060

USB-4604BM

IP-4PGP23

BPS-300S

1492-J4Q TERMINAL BLOCK

1492-SPM3D400-N MCB Supplementary Protector 40 A

軟啟動(dòng)器 3RW40562BB35

CPU 模塊 6ES7 518-4AP00--0AB0 CPU 1518-4 PN/DP，4 MB 程序，20 MB 數(shù)據(jù)；1 ns；集成X1: 2x PN 接，X2: 1x PN 接口，X3:1x 1000M 以太網(wǎng)接口，X4: 1x DP 接口

150B-SD3JBD-BP Encl. SMC-50 150B- Motor Controller

1738-OB16E25DS ArmorPoint 16 Point Output Module

1784-SD2 ControlLogix Secure Digital Card

193-NCXP-DIO-CNT E300 Digital Module Connectors

20-750-S PowerFlex 750 SAFE Torque-Off Opt module

2090-CSBM1DE-14AF15 Kinetix Cable Single DSL 2090-Series

20AB9P6A0AYNANC0 PowerFlex 70 AC Drive 9.6 A at 3 Hp 20A

GA647IFPRSR00075 GCA iFIX Profsnl SCADA 75 I/O Srv

GP647IFESGSR00300 GCP iFIX Optn: ESig & ERec 300 I/O Srv

IC600BF910RR 115Vac Isolated Output Module (6 points)

IC647HSTCR15KM Collector Redundancy Option for Historian - Standard Server 15000 Points (M4 Key)

IC647TPD150 CIMPLICITY HMI ProServer 150 I/O Development & Runtime System

IC693PCM300RR Programmable Coprocessor Module w/Port Expansion Cable

IC756LDV010K-98 DV Draw Development on Inb/Linux RedHat Op Sys, Korean, Version 9.8

MicroLogix 1000/1761 System 1761-L20BWA-5A 25 I/O MICROLOGIX 1000 WITH ANALOG