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VMPU-4AS現(xiàn)貨 in stock! 歡迎來(lái)電咨詢~??！

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　機(jī)器人誕生之日起人們就不斷地嘗試著說(shuō)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(lái)，機(jī)器人所涵蓋的內(nèi)容越來(lái)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(lái)，經(jīng)歷40多年的發(fā)展已取得長(zhǎng)足的進(jìn)步。隨著近年來(lái)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(lái)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(chǎng)控制的總線網(wǎng)路系統(tǒng)，DIN是德國(guó)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(wú)需用螺絲固定，維護(hù)也很方便，一般來(lái)說(shuō)，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(cāng)庫(kù)、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(lái)說(shuō)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(lái)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(shuō)，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(wú)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(jiǎn)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(jiǎn)單的點(diǎn)到點(diǎn)的運(yùn)動(dòng)到復(fù)雜的齒輪傳動(dòng)，來(lái)滿足高性能工業(yè)機(jī)器人的要求。
 

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A06B-0147-B175#7076 A22/2000 Servo Motor, IP67 Sealing, Holding Brake, 64K Serial Encoder

IC200UDR002 14 point (8) 24VDC In, (6) Relay Out, 24VDC Power Supply

IC752CBT010 Mature, order QuickPanel instead. DataPanel 320T ME (Mono Expansion): 320x240 1/4 VGA Monochrome LCD with 80386SX/40 PC processor. Analog touch screen with text, bitmaps, bar graphs, real time clock. With 2M memory and PC/104 capability.

MTR-1N31-N-A-S-0RR Stepping Motor Nema34

NI 9230

contec PCI總線 SPC-8450-LVA

MIC-3645

X8DTE-F

TEK820-2

RICOH FB5U-LS-29J

A20B-2900-0143 A20B-2900-0143/04A

1492-SPM3D010 MCB Supplementary Protector 1 A

軟啟動(dòng)器 3RW40282TB05

輸入仿真器 6ES7 274-1XK30-0XA0 模擬器

150-SD1NBR SMC-50 SOLID STATE MOTOR CONTROLLER 361A

1738-8CFGM12 ArmorPoint 8 Point Combination Module

1783-US5TG Stratix 2000 5 port Gb unmanaged switch

193-EXP-CBL-3M E300/E200 3 Meter Expansion Bus Cable

20-750-MNT3-F9 PF755 FR9,IP00,FLOOR MOUNTING KIT

2090-CPWM7DF-16AF02 MP-Series 2m Length Power Cable

20AB-DB1-C PowerFlex 70 Resistor Kit

GA647IFESGRN00900 GCA iFIX Optn: ESig & ERec 900 I/O Run

GP646IFCLNTCRO005 GCP iFIX iClient Read Only 10 PK Keyless Runtime Version

IC600BF801RR Remote I/O Receiver Module

IC647HSTCC1750KM Calculation Collector for Historian - Standard Server 1,750,000 Points (M4 Key)

IC647TAV000 CIMPLICITY Advanced Viewer - Enables direct OPC connectivity

IC693MDL753 12/24 Vdc Output, Pos Logic (32 Pts)

IC756LDV000J64-925 DataViews Development on Inb Linux/Red Hat 64 bit Op Sys, Japanese v9.25

Pico Controllers 1760-RPLCONN REPLACEMENT CONNECTOR FOR EXPANSION I/O MODULE

PLC-5/1771 System 1771-OD16 ISOLATED OUTPUT MODULE, 120V AC

Distributed I/O 1791-0A16 BLOCK I/O, 120V AC, 16 POINT MODULE (16 OUTPUT)

Communications 1786-RG6F CONTROLNET RG6 QUAD SHIELD HIGH FLEX COAX CABLE

Operator Interface 2706-PENETP ETHERNET/IP COMMUNICATION MODULE FOR 2706-P22R

Support 9701-VWSCWAR SUPT REINSTATEMENT CONTRACT FOR 9701VWSCWAENE

Support 9324-RL0100ENS SUPT RENEWAL CONTRACT FOR 9324RL0100EN

EtherNet/IP Products 2711P-K12C4D2 PV PLUS 1250, KEYPAD, RIO/DH, DC PS, EXT MEM

RSI Software Products 9301-2SE340KOU5R RSVIEW32 RUNTIME 5K-32K UPGRADE OUT-SUP (KO)

RSI Software Products 9356-PRO2350U6 UPGRADE: IN-SUPT: RSSQL PROF.300 TO PROF.5000 TAG

Motion Control F-4050-Q-H00AN MOTOR,F-,NEMA 56C,60 IN LB CONT.

4360-H 4360 WITH 0-10V OR 4020 mA OUTPUT

IC200ACC302 I/O INPUT SIMULATOR

IC693CSE340 Series 90-30 Modular State Logic CPU 340

TGT-DI0L-64-0 Target Ditial I/O 32 Inputs,32 Inputs/Outputs

AT-MIO-64E-3

PCA-6773

03-20814-01

超微 X8DTH-iF

ETHERLINK III 3C509B-C

AS-3110

AmproLB3-P5X-Q-80

1492-SPM1D100 MCB Supplementary Protector 10 A

通用型變頻器 6SE6 440-2UD24-0BA1 4.0 KW,149 x 202 x 172

電機(jī)啟動(dòng)器 3VU13403NK00

150-C43NBR SMC-3 43A Smart Motor Controller

1609-PXBP 1609 External Battery Pack UPS Accessory

1771-DBMEM2 1771 Memory Module

193-EC2DE E3 Plus 9-45 A Overload Relay

198-MS22 ModCenter IEC Push-Button

2090-CPBM7E7-16AF09 MP-Series 9m Length Pwr and Brake Cable

2094-AL50S Kinetix Line Interface Module

CQPKSTDN0000 6 inch Color STN/ TCP Label/ No Ethernet/ CF/ 24VDC/ UL/ cUL/ CE/ UL1604

GFK-0466 Logicmaster 90 Series 90-30/20/Micro Programming S/W User's Man.

IC200UEX626-24 Qty of 24, 6 channel Analog expansion. (4) Analog bs & (2) Analog Outputs, 24VDC Power Supply (includes IC200CBL501)

IC647APS001 PA Production Server

IC647PFL100 Proficy Process Systems Standard Edition 1000 I/O with iFIX

IC693CHS398 Base, Expansion, 5 Slots

IC754PIF001 90-30 I/O INTERFACE FOR QP CONTROL

KIT-PACPROD Kit-PACPROD includes one each of the following,(GE Fanuc will ship the items below in bulk and not in shrink wrap packaging) GFS-557 PAC Productivity Workshop Presentation handouts; GFA-406 Controller <(>&<)> I/O; Solutions Product Catalog GFS-384 PA

SLC/1746 System D1747-UM010BENP BACKUP SCANNET USER MANUAL

Distributed I/O 1734D-IB8XOB8E 24 VDC 8 SINK IN 8 SOURCE OUT, DNET COMMS, SCREW

Application-specific products 1803-EEM01E12 EEM, 8 ANALOG, 4 TO 20 MA, NEMA 12 ENCLOSURE

Operator Interface 2711-T10G10 PV1000 GRAYSCALE TOUCH, DNET & RS232 PRINT

Support 9301-2SE3500ITS SUPT RENEWAL CONTRACT FOR 93012SE3500IT

Support 9381-PA5KENR SUPT REINSTATEMENT CONTRACT FOR 9381PA5KEN

DeviceNet Products 1790D-4R0 DNET LDX, 4 INPUT RTD BSE,D-SHELL CONN

RSI Software Products 9301-2SE330FRU1R RSVIEW32 RUNTIME 300-1500 UPGRADE OUT-SUPT (FR)

RSI Software Products 9358-PBEPB03ENE RSBIZWARE BATCH & EPROCEDURE BNDLE PLX 03 UNITS

Motion Control MPL-B580J-MK24AA MOTOR,SERVO,34.0NM,3800RPM,MULTI,460V,BRK,32MMSHAF

Motion Control 2090-UXLF-HV323 AC LINE FILTER,ULTRA,23 AMPS, 460V, 3 PHASE

GQSI31200S2P QUICKSTART KIT 10.5" STN GE LABEL

IC646NHR000 Server Redundancy

MTR-3T66-H-R-B-M-0 MTR-Series Servo Motor, Resolver, Metric, 24V Brake

ST-1904 STXi b module 4 points, 220V AC (AC 170V ~ 264V)

SCXI-1163R

A30807-X5474-X-6-11

DEKTEC DTA-100