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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(zhǎng)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(chǎng)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(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)，來滿足高性能工業(yè)機(jī)器人的要求。
 

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Support 9515-RSCHM500S SUPT RENEWAL CONTRACT FOR 9515RSCHM500ENE

EtherNet/IP Products 2711-B5A20L1 PV550 MONO KEY&TOUCH, ENET & RS232 PRINT

RSI Software Products 9301-2SE3400ZHU3 RSVIEW32 RUNTIME 150-32K UPGRADE IN-SUPT (ZH)

RSI Software Products 9515-RSNHS050ENE RSMACC NETWORK HEALTH FOR 50 NETWORKS

Motion Control 1326AB-B520E-S2L MOTOR,SERVO,460V,13.0NM,3000RPM,SINGL,IP67

4161-4-24+/-N12 BCD To 7 SEG Display . 3 Numeric Digits & 1 +/- Digit, 24VDC. NEMA 12

HMI-CAB-C89 CABLE SATTCON 05-35

IC693CBL324 Cable, Terminal Board Connections for DSM302, 1 Meter

QSI31200S2P QUICKSTART KIT 10.5" STN

TRM-21006667 20 point connector for S2K digital I/O

AIMB-212D

PCI-7224

Matrox Y7007-02

Inb EXPI9301CTBLK 893647

FPCA-852GM

8001-4105

1492-SPM1C160 Mcb Supplementary Protector 16 A

通用型變頻器 6SE6 430-2UD33-7EB0 "37 KW,275 x 650 x 245"

電機(jī)啟動(dòng)器 3VU13401NK00

150-C16NCR SMC-3 16A Smart Motor Controller

1608P-200A380V4S 200 A Pro DySC Sag Corrector

1769-SM1 PowerFlex-SCANport To Compact IO module

193-CBCT1 E3 Plus Ground Fault Current Sensor

194R-R5 Operating Shaft

2090-CPBM7E7-08AF05 5 m Length SpeedTec Extension Cable

2090-XXTPMP-16S20 MP-Series 20 m Length Power Cable

CP3I-0WPB-0070-AZ Motor power cable with straight connector for A8HVis/A12HVis/B8HVis/B12HVis. 7 meters

GF-905694 Connecting FlashCable to Mitutoyo Angled Connection (LEFT).

IC200UER016 VersaMax Micro Expansion 16 Output Expansion (16) Relay Outputs, 24VDC Power Supply (includes IC200CBL501).

IC647ADC001 PA Dashboard Client

IC647PCL025 Proficy Process Systems Standard Edition Single Node 250 I/O with Cimplicity

IC693CBL305 Cable, Port Expansion, Used With PCM301, PCM311, and CMM311

IC754ACC12ADP 12 inch QP View-Ctrl to CEIIx Cut-out Adaptor Kit (Qty 10 Kits)

IMC-316D-X-D 6 amp IMC servo motor controller with Devicenet

SLC/1746 System 9399-CCDUG CONTROLGUARDIAN DETECTOR5 USERS GUIDE

Open Automation Systems 1789-STRT1DE SOFTLOGIX 5800 STARTER KIT GERMAN

Application-specific products 1404-M805A-232 MASTER MODULE-PQ 232 COM-120/240V P/S

Operator Interface 2711-K10G15L1 PV1000 GRAYSCALE KEY, CNET & RS232 PRINT

Support 9301-2SE3300JPR SUPT REINSTATEMENT CONTRACT FOR 93012SE3300JP

Support 9381-P15KENS SUPT RENEWAL CONTRACT FOR 9381P15KEN

DeviceNet Products 1792D-CBFM MAXUM MEDIA BASE FOR KWIKLINK FLAT MEDIA

RSI Software Products 9301-2SE3300ITE RSVIEW32 RUNTIME 1500 (ITALIAN)

RSI Software Products 9358-EP30U2 UPGRADE: IN-SUPT: RSBIZWARE EPROCEDURE 10 TO 30

Motion Control MPL-B4540F-MK22AA MOTOR,SERVO,10.2 NM,3000RPM,MULTI,460V

Motion Control 9101-0326 CONNECTOR KIT, MOTOR POWER, F/H-4X, STRAIGHT

GQPI3D200C2P QUICKPANEL COLOR 10.5" TFT GE LABEL

IC646MRB075 Logic PC 75 Tag Runtime System

MTR-1N41-G-N-A-E-0 Stepping Motor Nema42, Parallel Wdg

SA07-018 Industrial Application Server (4 days)

PXIe-6555

PCI-1603

9373CPSU-0010 YM-2531BAR

P5PL2-E

PCL-833

PCIE-H610-R10

1492-PDME1141 115 A Enclosed Power Distribution Block

高速計(jì)數(shù)模塊 6ES7 450-1AP00-0AE0 FM450 高速計(jì)數(shù)模塊 500kHz,2 通道

變送器 3RS10301DD10

1497-C-BASX-3-N Control Circuit Transber

1606-XL120DR Power Supply XL 120 W Power Supply

1762-IF2OF2 MicroLogix 4 Point Analog Comb Module

188-K3C130 Miniature Circuit Breaker 13 A

194L-G2864N Load Switch Control Knob

2090-CPBM7DF-02AA60 MP-Series 60 m Length Cable

2090-XXNFT-S09 Kinetix Drives 09m Standard Cable

BC647PSF025 Proficy Process Systems 250 I/O with iFIX

GC647PME003 GlobalCare Complete for Proficy Change Management Server Machine Edition Version - 3 Concurrent Users

IC200MDL330 Output 120VAC 0.5 amps per point isolated 16 points

IC646NWV000 WebView - Single License

IC647MITM MIT:Mitsubishi A Series

IC676CBLPBM050 IP67 Profibus Cordset - 5 Meters - Male Connector w/Leads

IC697MLX000 Series 90-70 Labels Kit

IC800SSI104RP2RR 4.3A, 115/230V, Profibus S2K Servo Controller for MTR Series Motors

SoftLogix System 1789-L60 SOFTLOGIX5860 CONTROLLER W/16 SLOT VIRTUAL CHASSIS

Industrial Computers 6182H-15TRH6B VVCE 1500, TOUCH, STD MEM, RIO/DH, AC

Process Control 1757-DNBUPG80 DEVICENET LIC UPG 80 DNBS

Operator Interface 2711-B5A15L1 PV550 MONO KEY&TOUCH, CNET & RS232 PRINT

Support 9303-23S0E20S SUPPORT RENEWAL CONTRACT FOR 9303-23S0E20

Support 9371-EPCO3R SUPT REINSTATEMENT CONTRACT FOR 9371EPCO3

ControlNet Products 9355-WABENE RSLINX PROFESSIONAL - ENGLISH

RSI Software Products 9301-2SE2500ESU2 RSVIEW32 WORKS 1500-100K UPGRADE IN-SUPT (ES)