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年級 專業(yè) 學號 姓名
Industrial Robots
1.Manipulator overview of Robots
It is the ancient robot in early appearance and developed on the basis of research into the middle of the twentieth century manipulator, along with the computer and automation technology development, especially the first digital electronic computer in 1946, since the advent of computer made amazing progress, to high speed, high capacity, low price direction. Meanwhile, the urgent demand of mass production of promoting automation technology progress, and for the development of robots laid a foundation. On the other hand, nuclear technology research requires certain operating machine instead of people handle the radioactive substances. In this one requirement background, the United States is developed in 1947, in 1948 and remote control robot developed mechanical master-slave manipulator.
From the United States began developing manipulators first. In 1954 the United States first suggested the wear wal-mart, and the concept of industrial robot applied for patent. This patent point is using servo technology control of the robot joints, using an action on the robot hands, the robot can realize. Teaching movement recording and playback. This is the so-called demonstration emersion robot. The existing robots are using this kind of control mode. 1958 united control company developed the first manipulator riveting robot. As the earliest practical model robot products (demonstration reappearance) is 1962 U.S. AMF company launched "VERSTRAN" and UNIMATION company launched "UNIMATE". These industrial robot mainly by similar man's hands and arms who composed it can replace the hard labor in order to achieve production mechanization and automation, can in harmful environment operation to protect the personal safety and thus widely used in mechanical manufacturing, metallurgy, electronics, light industry and atomic energy and other departments.
Industrial robot CaoZuoJi (by mechanical body), controller, servo drive system and detection sensor, making it a humanoid operation, automatic control, can repeat programming, can finish all kinds of assignments in 3d space the electromechanical integration automation production equipment. Particularly suitable for many varieties, change of flexible production batch. It to help stabilize, improve product quality, raise efficiency in production, improve working conditions and product rapid renewal plays an extremely important role.
Robotic technology is integrated with computer, cybernetics, organization learning, information and sensing technology, artificial intelligence, bionics science and the formation of high technology and new technology, is a very active, contemporary study applied more and more widely. Robot applications, is a national industrial automation level of important symbol.
Robot and not in the simple sense of labor, but replace artificial comprehensive people skills and machine a personification of the specialty of electronic machinery, already someone on the environment condition of rapid reaction and the analysis judgment ability, and a machine could be longer duration of work, high precision and the ability of resistance to bad environment, in a sense it is also machine process of evolution product, it is an important industrial and the industry production and service, but also set the advanced manufacturing technology field indispensable automation equipment.
Manipulator is part of the action imitating the hands, according to the given program, track and demanding acquirement, handling or operation of the automatic mechanical device. In the industrial production of the application of industrial robots called "robot". Application of manipulator can be used to increase production level of automation production and labor productivity: can reduce labor intensity, assure product quality, achieve safety production; Especially in high temperature, high pressure, low temperature, low pressure and dust, explosive, toxic gases and radiation etc harsh environment, it instead of human normal work, meaning more significant. Therefore, in the mechanical processing, stamping, casting, forging, welding, heat treatment, electroplating, paint, assembly and light industry, transportation etc widely quoted are increasingly.
The structure of the manipulator is simpler, specificity form began, strong for a machine tool's only feeder, and was attached to the machine's special manipulator. Along with the development of industrial technology, made by an independent program control realization repeated operation, suitable scope is wider "program control general manipulator", or general manipulator. Due to the change of general manipulator can quickly working procedures, good adaptability, so it continues to transform the medium and small batch production products gain extensive reference .
2.Composed of the manipulator
1)Actuators
Hand
Namely parts in contact with objects. Due to the different forms of contact with objects, can be divided into clamping type and adsorption the hands. Gripping type hand fingers (or by PAWS) and power transmission institution constitutes. Fingers are in direct contact with the object of components, common finger movement forms have moved back to the transformation of peace. Back to the transformation of simple structure, easy fingers, so application component manufacturing is widely applied translation type, its reason is less complicated structure, but translations type circular parts, fingers clamping workpiece diameter variation do not affect its axis position, therefore appropriate clamping diameter variation range workpiece.
Finger structure by grasping object depends on surface shape, caught parts (the profile or within hole) and object weight and dimensions. Common refers to a flat, form the v-shaped finger and surface: the clip type and inside there supporting type; Index has double refers to type, by type and hands of double refers to type, etc.
But the force transmission institution is produced by clamping force fingers to accomplish the task. Put objects clips Power transmission institutions are: the more commonly used type sliding channel, connecting lever lever type, bevel gear lever type, type, screw nut upper-and-lower, type spring type and gravity type, etc.
Enclosed type hand made mainly by chuck, it is to rely on adsorption force (such as chuck formed in the negative pressure or an electric suction magnetic) adsorption objects, the corresponding adsorption hand have negative pressure and electric disk two kinds of suckers.
For light small flake parts, smooth plate materials, usually with negative pressure chuch suck material. The way cause negative pressure air suction and vacuum pump type.
To guide magnetic ring type and the plate with a hole, and have such parts of sheet etc (meshes, usually use electro-magnetic chuck suck material. The suction electro magnetic chuch by dc magnets and production. Communication electromagnet.
With negative pressure chuch and electro magnetic chuch absorb charge, its shape, quantity, suckers absorbability size, according to adsorb object shape, size and weight size and decide.
In addition, according to special needs, the hand and spoon type (such as casting manipulator poured bag part), Joe type (such as cold gear machine up-down material manipulator hand) type.
Wrist
Hand and arm is connected components, and can be used to adjust the position by grasping object (i.e. posture).
Arm
The arm is supporting caught objects, hand, an important part of the wrist. The arm's role is to drive to grab objects, and fingers predetermined asks its handling to the location specified. Industrial manipulator arm often moving parts by driving arm (such as oil cylinder, cylinders, rack-and pinion institutions, link mechanism, screw mechanism and CAM mechanism, etc.) and drive source (such as hydraulic and pneumatic or motor, etc.), in order to realize the combined arms all kinds of sports.
The arm in telescopic or lifting movement, in order to prevent around its axis rotation, need a guide device, to ensure that the finger on the correct direction movement. In addition, orientation device can bear arms were bending moment and torsion moment when turning or arm movement in start-up, brake generated at the moment of inertia, make the moving parts stress state is simple.
Orientation device structure form, commonly used are: single cylinder, double cylindrical, four cylinder and v-shaped chamfer, swallow tail trough etc oriented form.
Pillar
Pillar is supporting the arm parts, pillar also can be part of the arm and arm turn movement and lift (or pitch) movement are and pillar are closely linked. Manipulator to usually set for fixed, but need because of the job, sometimes also can make lateral movement, namely called will move a type bar.
Walk Institutions
When industrial robots need to complete a remote operation, or expanded use scope, the same seat installation roller, rail, etc, in order to realize the mobile mechanism of the machine movement. Industrial robots Roller type can be divided into the mobile mechanism of sounds and two trolley. Drive roller motion should be additional mechanical transmission device.
Base
Seating is basic parts of manipulator, manipulator actuator components and the drive system are installed in on standby, so the role of the support and links.
2)Drive system
Drive system is driving industrial robots actuators movement of the power unit, usually by power supply, the control adjusting device and auxiliary device component. The drive system used in hydraulic transmission, pneumatic transmission, power transmission and mechanical transmission etc 4 form..
3)Control system
Control system is dominated by the requirements of industrial robots sport system. At present the control system of industrial robots by process control system and general electric positioning (or mechanical stop pieces positioning) systems. Control system has the electrical control and jet control two kinds, it dominates the manipulator procedures stipulated by the movement, according to people and memory of the manipulator instruction information (such as action sequence, trajectory, movement speed and time), and according to the control system of the information instruction executive agencies and, when necessary, the action of manipulator when motion surveillance, any error or fault alarm signal that..
4)Position detection device
Controlling manipulator actuator position and keep movement of actuator actual position feedback to control system, and with setting the position to compare, and then adjusted by controlling system, thus make actuators to certain accuracy reached set position.
3.Manipulator classification
There are many kinds of industrial robots, about classification problems, at present in China, not unified classification standard in this temporary by use scope, drive mode and classify control system, etc.
According to utility cent
Robots can be divided into special manipulator and general manipulator two:
1.special manipulator
It is attached to the host and have fixed program without independent control system mechanism. Special manipulator with action, less work object single, simple structure and reliable operation and cost low characteristic, suitable for big affiliate, such as automatic machine, automatic line and discharge of robot and 'processing center "the automatic automation production batch cutter replacement manipulator.
2. general manipulator
It is a kind of independent control system, program variable, action flexible manipulator. Through the adjustment may be used in different occasions, driving system and lattice performance range, its actions program is variable, the control system is independent. General manipulator work range, higher precision and versatility, applicable to the production of changing medium and small batch automation production.
General manipulator according to the control can be divided into different ways of the positioning of the simple type and servo type two kinds: simple type with "opening and closing" type control positioning, can only be position control: servo type has servo system, can point position control system, also can achieve continuous control path control general servo model gm manipulator belong to nc type.
1) According to the driving way points
1. hydraulic transmission manipulator
Based on the hydraulic pressure to drive the actuators movement of the manipulator. Its main features are: catch weight of several hundred kg, stable transmission, compact structure, action quick. But for sealing device requirements, otherwise the oil leakage strictly to the working performance of the manipulator has a great influence, and not in work under high temperature, low temperature. If the manipulator by applying electro-hydraulic servo drive system, can achieve continuous trajectory control, make the manipulator, but universal expand electro-hydraulic servo valve manufacturing precision, oil filter, strict cost are high.
2. pneumatic theories.supported manipulator
based on pressure of compressed air to drive the actuators movement of the manipulator. Its main features are: media sources is extremely convenient, output force is small, pneumatic action quick, simple structure, low cost. However, due to the air has compressible characteristics and work rate, the poor stability, and impact low air pressure, catch in commonly 30 kilograms heavy weight below, under the same conditions it caught the structure than hydraulic manipulator, so suitable for high-speed, light load, high temperature and dust big environment to work in.
3. mechanical transmission manipulator
Namely the mechanical transmission (such as CAM, connecting rod, gear and rack, intermittent mechanism, etc) driven manipulators. It is a kind special the attached to work host manipulator, its power is passed by working machinery. Its main characteristic is accurate and reliable, action frequency motion, but structure is bigger, action program immutable. It is often used to work and discharge of host.
4. power transmission manipulator
Namely, have special structure induction motors, linear motor or power step-motor direct driving actuators movement of the manipulator, because do not need the change in the middle, so the mechanical structure simple organization. One of the manipulator, the linear motor speed and longer journeys movement, maintaining and easy to use. Such manipulator is still small, but promising.
3)According to the control mode points
1. position control
Its movement for space between point-to-point control movement of mobile, only the position of several points in the process, unable to control its trajectory. If you would control points, you must increase more than the complexity of the electrical control system. Current use of special and general industrial robots are such.
2. continuous trajectory control
Its trajectory of any continuous curve for the space, its characteristic is set point for unlimited, the whole mobile process under control, can achieve smooth and accurate movement, and use range, but the electrical control system is complicated. This kind of industrial robots generally USES small computer control.
4.The application of industrial robots in production and its significance
Because of its high flexibility and robot in life, manufacturing performance in various fields such as plays a very important role. It can carry goods, sort and products, and can in harmful environment to protect life safety operation, instead of man's heavy labor, so are widely used in machinery manufacturing, light industry and needs goods handling various places.
In modern industry, the production process automation has become a prominent theme. The automation level from all walks of life becomes more and more high, modern processing workshop, often with manipulator to improve production efficiency, complete workers difficult to complete or dangerous job. Available in mechanical industry, processing, assembling and other production largely is not continuous. According to data is introduced, the American production in all industrial parts, 75 percent is small batch production; Metal processing production batch of three-quarters under 50 pieces on the machine parts in real time accounted for only parts processing production time 5%. Here you can see, loading and unloading, handling, carrying the process such as the urgency of industrial robots mechanized for realizing these processes is automated and of generation. At present the finished work of manipulator are often used to have: injection industry from the mold to grab products and fast curing to the next will product production processes; Manipulator processing industry for picking, feeding; Casting industry for high temperature melting extracted liquid etc. Robots in automation workshop for transporting materials, engaged in welding, painting, assembling process operation, but will operate workers from onerous, drab, repeat liberated the manual labor. Especially in high temperature, dangerous or harmful work environment (radioactive, poisonous gas and dust, inflammable, explosive, strong noise, etc.), usable parts operation instead of manipulator. At present, the manipulator has been widely used in casting, forging, stamping, machining, paint, the assembly and so on various processes.
In mechanical industry, the significance of application manipulator can be summarized as follows:
1. To improve the production process of automation
The robot conducive to the realization of materials used, workpiece loading, unloading and transmit the cutter replacement and machine assembly etc, thus the automation degree can improve labor productivity and reduce production cost.
2. To improve working conditions, and avoid personal accident
In high temperature, high pressure, low temperature, low pressure and dust, noise and smell, or radioactive or have other toxic pollution and working space in the occasion of narrow choose and employ persons is dangerous hands direct operation or impossible, and the use of robots can part or all of the replace man safe working conditions, make homework improves.
In some simple, repetitive, especially a heavy operation to replace man, robot can avoid due to negligence operating fatigue or accidents.
3. Can relieve human, and facilitate the rhythmic production
Instead of people applied manipulator work, it is the one aspect of the direct reduce manpower, and because the application can be continuous work, robot is to reduce the human and another side. Therefore, the comprehensive processing in automatic machine, automatic line now barely manipulator, to reduce the manpower and the more accurate control production beat, facilitate rhythmic work on production.
To sum up, the effective application of mechanical industry development manipulator, is an inevitable trend.
工業(yè)機器人
1. Manipulator機器人概述
這是出現(xiàn)在古代早期機器人和對科研進入二十世紀機器人的基礎(chǔ)上發(fā)展中，隨著計算機和自動化技術(shù)的發(fā)展，特別是在1946年第一臺數(shù)字電子計算機，因為計算機的出現(xiàn)取得了驚人的進展，以高速，高容量，低價格方向。同時，促進技術(shù)進步的大規(guī)模自動化生產(chǎn)的迫切需求，為機器人的發(fā)展奠定了基礎(chǔ)。另一方面，核技術(shù)的研究需要一定的操作機械代替人處理放射性物質(zhì)。在這其中要求的背景下，美國于1947年開發(fā)，1948年和遠程控制機器人開發(fā)機械主從機械手。
從美國開始開發(fā)機器人第一。 1954年美國首先提出的磨損沃爾瑪，以及為申請專利的工業(yè)機器人的概念。這項專利的一點是利用機器人關(guān)節(jié)伺服控制技術(shù)，使用機械手的動作，機器人可以實現(xiàn)。教學動態(tài)記錄和回放。這就是所謂的示范再現(xiàn)機器人?，F(xiàn)有的機器人使用這種控制方式之一。 1958年聯(lián)合國防治公司研制出第一臺機械手鉚機器人。作為機器人產(chǎn)品最早的實用機型（示范再現(xiàn)）是1962年美國的AMF公司推出的“VERSTRAN”和UNIMATION公司推出的“UNIMATE”。這些工業(yè)機器人主要由類似人的手和胳膊誰組成它可以代替苦役，以實現(xiàn)生產(chǎn)的機械化和自動化，可以在有害環(huán)境下工作，保護人身安全，因而廣泛應(yīng)用于機械制造，冶金，電子，光工業(yè)和原子能等部門。
工業(yè)機器人CaoZuoJi（由機械本體），控制器，伺服驅(qū)動系統(tǒng)和檢測傳感器，使其成為一個人形操作，全自動控制，可重復(fù)編程，可在三維空間中完成機電一體化自動化生產(chǎn)設(shè)備的各種任務(wù)。特別適合于多品種，柔性生產(chǎn)批量變化。它以幫助穩(wěn)定，提高產(chǎn)品質(zhì)量，提高生產(chǎn)效率，改善勞動條件和產(chǎn)品更新速度快起著極其重要的作用。
機器人技術(shù)與計算機，控制論，組織學習，信息和傳感技術(shù)，人工智能，仿生學科學和高新技術(shù)的集成和新技術(shù)的形成，是一個非?；钴S的當代研究應(yīng)用越來越廣泛。機器人的應(yīng)用，是一個國家的工業(yè)自動化水平的重要標志。
機器人而不是簡單意義上的勞動，但全面的人際交往能力代替人工和機械的，電子機械，已經(jīng)到了快速反應(yīng)和分析判斷能力，環(huán)境條件的人專業(yè)的化身，而??機器可能
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