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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(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，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，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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Industrial Computers 6182H-12TRH15B VVCE 1250, TOUCH, STD MEM, CNET, AC

Process Control 1757-PFBUPG005 PROFIBUS LIC UPG 5 IOMS

Operator Interface 2711P-RY2032 PV PLUS REPLACEMENT BATTERY

Support 9357-ENETL3S SUPT RENEWAL CONTRACT FOR 9357ENETL3

Support 9363-SNAPSHOTR SUPT REINSTATEMENT CONTRACT FOR 9363SNAPSHOT

ControlNet Products 1734-VHSC24 24 VDC VERY HIGH SPEED COUNTER WITH SOURCE OUTPUTS

RSI Software Products 9301-2SE240DEU2R RSVIEW32 WORKS 300-32K UPGRADE OUT-SUPT (DE)

RSI Software Products 9358-B30ENE RSBIZWARE BATCH 30 UNITS

Motion Control MPL-A430H-SJ24AA MOTOR,SERVO,6.55 NM,3500RPM,SINGL,230V,BRK,8.2KG

Motion Control 2090-UXNFBY-S15 CABLE,ULGRF50ON-FLEX,MOTOR FEEDBACK,Y,15M

CBL-14-ET-10 MTR-1300 and MTR-1N Series SPLASHPROOF Stepping Motor Encoder Feedback Cable, 10 Ft.

IC610MDL135RR U.L. Listed 115Vac Input (6 points)

IC800SLA5002 5000W, 230VAC SL Series Amplifier

OC647IFGLBLDPNSRVENM-55 iFIX WebSpace v5.5 Dependent Server Enabler

PXI-2548

COMMELL FS-97B

PCI-1752U

SNP-9041

METEOR2/4

RIO-3309S

1492-MCAA240 40 A UL489 Miniature Circuit Breaker

1494U-NC 1494U 10A N.C. Auxiliary Contact

軟啟動(dòng)器 3RW44556BC44

Safety Advanced V14 6ES7833-1FB14-0YH5 STEP 7 Safety Basic V14 SP1 SW DL

1585D-M4UBDM-70 1585D Ethernet Media Patchcord

1756-JMPR ControlLogix Jumper Bar

1797-PS2N2 FlexEx Power Supply

194E-E63-1753-6N 63 A 194E Load switch

2090-CFBM6DD-CCAA12 TL-Series 12m Feedback Cable

2090-SCEP15-0 Kinetix 15-15m Fiber Optic Cable

BC646MFL001 FANUC Ladder IIIC with Proficy GlobalCare Complete

GC647ADC025 GC Dashboard Client 25 Pak

HMI-CAB-C58 CABLE MODICON 984 SLOT

IC641SWP064 Series 90 PCM Flow Computer Software

IC647IFCLNTSRO010C iFIX iClientTS Read Only 10 PK (M1Component Part)

IC660EBD020RR Ph B 24/48Vdc and 24Vdc 16 CKT Src Electronic Asm

IC695PSD140CA 24VDC Multipurpose Power Supply CONFORMAL COATED is suitable for use in load-sharing and redundancy application. It must be installed in a PACsystems RX3i (IC695catalog number) Universal Backplane. It can be used as the only power supply in the back

IC756WRE099E-275 "Runtime License for Windows 50-99 Users, Per User, English v2.7.5"

FlexLogix System 1794-OB16P 24V DC SOURCE OUTPUT MODULE (PROTECTED), 16 POINT

PLC-5/1771 System D1785-6.5.24 CONTROLNET PLC-5 HOT BACKUP USER MANUAL

Process Control 1757-PLXSIFY PLX DPR RECORDERS QUICKBUILDER INTERFACE

Operator Interface 2711P-K10C4B2 PV PLUS 1000, KEYPAD, ENET, AC PS, EXT MEM

Support 9324-FW5DDENR SUPT REINSTATEMENT CONTRACT FOR 9324FW5DDEN

Support 2706-NP1S SUPT RENEWAL CONTRACT FOR 2706NP1

Support F1785-L40CSERC FIRMWARE UPGRADE FOR 1785-L40C PLC5 PROCESSOR MODU

RSI Software Products 9301-2SE2300U2 UPGRADE: IN-SUPT: RSVIEW WORKS 150 TO 1500

RSI Software Products 9701-VWSCWAENE RSVIEW SE CLIENT

RSI Software Products 9399-RL50GRDE RSLOGIX 500 GETTING RESULTS GUIDE (GERMAN)

Motion Control 1394C-AM03 MODULE,AXIS,2KW,3.0A CONT,6.0A PEEK

BC646MDC700 Logic Developer - PC & View Development/Runtime 700 I/O

IC300OCS031 OCS with 2x20 LCD Display and with 16 keypad. Built in I/O no expansion. 8 DC Inputs (12/24vdc), 8 DC Outputs (5/12/24vdc, 0.5A pos. logic with ESCP). No network

IC752SKT007 Mature, order QuickPanel instead. DataPanel 320T CEG Starter Kit: Includes Datapanel 320T Passive Color Expansion with 2MB & Genius (CBT070), download & communication cables, WinCfg, user & programming manuals

MTR-3T11-G-R-0-M-S MTR series metric servo motor with resolver and shaft seal

PCI-6071E

NBP 20016

PC104-FD-32-DF

WCF681

SBC81610

SHB-960

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

1492-XIM24-16RF Expander Module / 16 Relays 24Vdc Fused

軟啟動(dòng)器 3RW44243BC36

接口模塊 6ES7 155-5AA00-0AB0 IM 155-5 2PN 接口，PROFINET 接口模塊

1585-C8HB-S100 Cable Spool Ethernet Media

1746-P4 SLC Rack Mounting Power Supply

1790-T0A8X CompactBlock LDX Expansion Block

194E-A100-PE 194E Earthing-Grounding Terminal

20-PP10016 MOTOR CABLE V, PF700H, PF700S

2090-CSBM1DF-18AA20 Kinetix 20m Smartb Single Cable

20AC037A3AYNANC0 PowerFlex 70 AC Drive 20A

GC-8841-LC-MT SafetyNet Logic Workbench

HE300SFW100 Drive configuration software for GEN100 and RSL100.

IC600KD533RR Amber OptiBasic OIT, Ver 31

IC647HSTES250KM Historian Enterprise Server 250000 Points (M4 Key)

IC650AEL003RR Series Six Controller Board with Faceplate (MAP30) **

IC694APU300 High speed counter module 200KHZ A B and C type.

IC756SDV000K-99 DV Development - Solaris Op Sys, Korean, Version 9.9

MicroLogix 1500/1769 System

PLC-5/1771 System 1771-WF FIELD WIRING ARM, 18 TERMINALS

Distributed I/O 1794-IRT8K CONFORMAL COAT, NON-ISOLATED TC/RTD/MV INPUT, 8 PT

Communications 9399-WAB32UG RSLINX USER GUIDE

Support 6233-52VDLR SUPT REINSTATEMENT CONTRACT FOR 623352VDL

Support 9358-BPC60R SUPT REINSTATEMENT CONTRACT FOR 9358BPC60ENE

Support F1771-IRSERC FIRMWARE UPGRADE FOR 1771-IR I/O MODULE

RSI Software Products 9324-RLD0U3FRE RSLOGIX 5000 SERVICE ED TO STD UPG, FRA