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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(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)/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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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RSI Software Products 9358-BPCNT10U1R UPGRADE: OUT-SUPT: RSBATCH PC-BASED 03 TO 10

Motion Control MPL-B4520P-MJ24AA MOTOR,SERVO,6.1 NM,5000RPM,MULTI,460V,BRK,9.5KG

Motion Control 2090-SCNP3-0 SERCOS FBR CABL,CONN,HARSH DUTY,JKT,PLASTIC,3.0M

GFK-1504 Manual VersaMax Modules, Power Supplies, Carriers and Cables

IC646MDE150 Logic Developer - PC & View (HRT) 150 Tag Runtime & Development System

MTR-1220-E-D-E-0 Stepping Motor Nema23, Series Wdg, Encoder

QPI31200E2P 9 inch Monochrome EL/ TCP Label/ 110VAC/ No Agency Approvals

20BC030A0AYNAND0 PowerFlex 700 AC Drive 30 A at 15 kW 20B

20F11GD8P0AA0NNNNN PowerFlex 753 AC Packaged Drive

21G1ABD545AN2NNNNN-ND-L1-P5 PowerFlex Air Cooled 755 Packaged Drive

2711P-RDT7CK PanelView Plus Display Module

280E-FN-10-C ArmorStart Direct Online Starter

C200HW-BC051 主機(jī)板?可安裝5個(gè)I/O單元

1492-PD3263 350 A Power Distribution Block

電源模塊 6ES7407-0KA01-0AA0 PS407 輸入電壓 115/230VAC 10A

變送器 3RS17052KW00

TIA 博途數(shù)字化選件 6AV2107-0UP00-0BB0 SIMATIC ProDiag for SIMATIC Comfort/Mobile Panels

1585J-M8TBJM-1 RJ45 Ethernet Media

1760-RPLCONN Pico Replacement Expansion I/O Connector

188-K3B060-N 6 A Miniature Circuit Breaker

194L-E12-8251 12A 194L Load Switch

2090-CPBM4DF-16AF01 MP-Series 1 m Length Pwr and Brake Cable

2090-XXNFMF-S01 Kinetix Drives 1m Standard Cable

BC647OEM0311 OEM Edge Program Renewal Additional Key - Machine Edition

GC647MVD000 Global Care for View OPC Driver License and Hardware Key

IC200MDD840LT MIXED 24VDC POS LOG INPUT GRP 20PT / OUTPUT RELAY 2.0A PER PT GRP 12PT (LT)

IC646NME000 Mitsubishi A-Series Serial

IC647LNSM LNS:Lonworks Network Interface

IC670MDL742RR 5/12/24Vdc Neg Logic Output, 16 pt

IC697MDL652 12 Vdc Input, Positive/Negative Logic (32 Points)

IC800SLCS020 Serial cable for SL series amplifier serial communication. 2 meters

ControlLogix/1756 System 1756-PBR2 19-32VDC REDUNDANT POWER SUPPLY ASSEMBLY

Industrial Computers 6182H-12TRH6B VVCE 1250, TOUCH, STD MEM, RIO/DH, AC

Process Control 1757-PFBUPG050 PROFIBUS LIC UPG 50 IOMS

Operator Interface 2711P-ST12B PANELVIEW PLUS 1250 KEY/TOUCH STARTER KIT

Support 9357-ENETMDAD3S SUPT RENEWAL CONTRACT FOR 9357ENETMDAD3E

Support 9371-DOCXENR SUPT REINSTATEMENT CONTRACT FOR 9371DOCXEN

ControlNet Products 1734-RTB3 REPLACEMENT 12 POSITION IP20 SCREW TERMINAL BLOCK

RSI Software Products 9301-2SE240ESU2R RSVIEW32 WORKS 300-32K UPGRADE OUT-SUPT (ES)

RSI Software Products 9358-B30U2R UPGRADE: OUT-SUPT: RSBIZWARE BATCH 10 TO 30

Motion Control MPL-A430P-HJ24AA MOTOR,SERVO,5.42NM,5000RPM,ENCR,230V,BRK,8.2KG

Motion Control 2090-UXNFDN-R09 CABLE,ULTRA,NON-FLEX, MOTOR FEEDBACK,N,R/A,9M

CBL-14-MP-20 Power Cable, MTR-1235, 13xx & 14xx Series Splashproof Stepping Motors, 20 Ft.

IC610MDL154RR 24Vdc Sink/Source Output, 2 Amp (4 points)

IC800SLCBV100 Power/Brake Cable, 1000 W SL Servo Motor with Brake, 10 Meters

OC647IFGLBLENBLRM-51 iFIX WebSpace Enabler v 5.1

20AD3P4A3AYNAEC0 PowerFlex 70 AC Drive 3.4 A at 2 Hp 20A

20DD014A0EYNANGNE PowerFlex 700S AC Drive 20D

20P41AB029RA0NNN PowerFlex DC Drive 230V AC 7.5 HP

2711-NR5T PanelView Accessory

280-PWRM24A-M10 ArmorStart Three-Phase Power Media

3G3MV-A4022 NEW 5.9KVA 5.5A 2.2KW 三相AC380-460V/50HZ/60HZ

1492-MCAA260 60 A UL489 Miniature Circuit Breaker

1494U-NOLV 1494U N.O. L.V. Auxiliary Contact

軟啟動(dòng)器 3RW44556BC36

工程組態(tài)編程軟件 6AV2102-0AA04-0AA5 SIMATIC WinCC Advanced V14

1585D-M4UBJM-0M6 1585D Ethernet Media Patchcord

1756-L62 ControlLogix 4 MB Memory Controller

1797-TB3 FlexEx Terminal Base

194E-E63-PE 194E Earthing-Grounding Terminal

2090-CFBM6DD-CCAA25 TL-Series 25m Feedback Cable

2090-SCEP3-0 Kinetix 3-3m Fiber Optic Cable

BC646MODEV10PK Motion Developer 10 pack for the S2K Series Amplifiers/Controllers with Proficy GlobalCare Complete

GC647ADC999 GC Dashboard Client - UNL

HMI-CAB-C82 CABLE GE SNP

IC641SWP081 Host Drivers for Windows NT/95, Qty. 10

IC647IFCLNTSRO025C iFIX iClientTS Read Only 25 PK (M1Component Part)

IC660EBD024 Electronic Assembly for IC660BBD024

IC695SPC100 RX3i 10/100/1000base-TX (CAT5 100m) Small Form Pluggable Transceiver

IC756WRE099J-22 DataViews Runtime for Windows 50-99, Per User, Japanese, Version 2.2

FlexLogix System 1794-OB8 24 VDC OUTPUT 8 POINTS

PLC-5/1771 System D1785-6.6.1 PLC5 FAMILY PROGRAMMABLE CONTROLLER(1785-L)MANUAL

Process Control 1757-PLXSIFZB PLX FSC SERIAL MODBUS QUICKBUILDER INTERFACE

Operator Interface 2711P-K10C6B1 PV PLUS 1000, KEYPAD, ENET, AC PS, STD MEM

Support 9324-FW5PCOENS SUPT RENEWAL CONTRACT FOR 9324FW5PCOEN

Support 2706-NP5R SUPT REINSTATEMENT CONTRACT FOR 2706NP5

Support F1785-L40ESERC FIRMWARE UPGRADE FOR 1785-L40E PLC5 PROCESSOR MODU

RSI Software Products 9301-2SE2300ZHU1 RSVIEW32 WORKS 300-1500 UPGRADE IN-SUPT (ZH)

RSI Software Products 9701-VWSS000AENE RSVIEW SE SERVER UNLIMITED DISPLAY

RSI Software Products 9399-RL50GRPT RSLOGIX 500 GETTING RESULTS GUIDE (PORTUGUESE)

Motion Control 1394C-AM50-IH MODULE,AXIS,INTL HTSNK,10KW,23.3A CONT,33.2A PK

BC646MDD159 Logic Developer PC w/Runtime (HRT) 1,500 I/O

IC300OCS035 OCS with 2x20 LCD Display and with 16-key tactical feel keypad. Built in I/O no expansion. One RS-232 serial port supporting CsCAN and RTU Master/Slave. 8 DC Inputs (12/24vdc), 6 Relay Outputs (4.0A per point).No network interface.

IC752SKT009 Datapanel 150 Starter Kit: Includes Datapanel 150 (DFT000), download & communication cables, DataDesigner, user & programming manuals.

MTR-3T12-G-R-0-M-S MTR series metric servo motor with resolver and shaft seal

ZA06B-6130-H402 External regeneration resistor rated 100 Watts for BSVM1-20i Beta i series amplifier

20CD300A0ANNBNA0 PowerFlex 700H AC Drive 20C

20G1AGC140JN0NNNNN PowerFlex 755 AC Packaged Drive

25A-E022N104 PowerFlex 523 15kW (20Hp) AC Drive

2711P-T6M20D8 PanelView Plus 6 6 Grayscale Touch DC

6SE6440-2UD34-5FB1 45KW

1492-L2-G IEC Term Blck 3.5x51.5x29.5mm Spr Clp

1492-XIM4024-8R Connection Products

軟啟動(dòng)器 3RW44251BC35

工藝模塊 6ES7 551-1AB00-0AB0 TM PosInput 2，2 通道計(jì)數(shù)與位置采集 ( 增量型 / 絕對(duì)值編碼器 SSI，RS422 和 5V TTL 信號(hào) ), 35mm 模塊，不含前連接器

1585-C8PB-S300 Cable Spool Ethernet Media