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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)造出一種多級式分布系統(tǒng)。

　　1

　　舉個例子

　　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整個系統(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)時性等。移動機(jī)器人運(yùn)行環(huán)境較惡劣，干擾源眾多，對運(yùn)動控制器的實(shí)時性和可靠性要求較高，所以選擇一種穩(wěn)定可靠地運(yùn)動控制器至關(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)對機(jī)器人的有效控制。

　　2、電氣系統(tǒng)

　　在對輪式全向移動機(jī)器人控制系統(tǒng)硬件進(jìn)行選型以后，根據(jù)移動機(jī)器人的硬件組成進(jìn)行電氣系統(tǒng)設(shè)計(jì)。移動機(jī)器人的電氣系統(tǒng)主要包括三個部分：主電路、伺服驅(qū)動系統(tǒng)電路和PLC控制系統(tǒng)電路。

　　移動機(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)線圈通電的時候，其對應(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)動控制指令，使用位置控制方式，控制4個轉(zhuǎn)向伺服電機(jī)，從而控制4個車輪的轉(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個輪毅電機(jī)，驅(qū)動機(jī)器人運(yùn)動。排除硬件的因素外，程序的好壞直接決定著運(yùn)動性能的高。因此程序的編寫是整個設(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)動控制器和基于DSP運(yùn)動控制器能夠?qū)崿F(xiàn)機(jī)器人的運(yùn)動控制，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)動控制指令就能實(shí)現(xiàn)對機(jī)器人的運(yùn)動控制，因此，PLC想要在機(jī)器人多軸運(yùn)動協(xié)調(diào)控制、網(wǎng)絡(luò)通訊方面取得優(yōu)勢，還是需要一定的時間。因?yàn)楦咝阅芄I(yè)機(jī)器人主要是各關(guān)節(jié)的驅(qū)動運(yùn)動，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)動到復(fù)雜的齒輪傳動，來滿足高性能工業(yè)機(jī)器人的要求。
 

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189-ALOA2 MCB Accessory Lockout Attachment

194R-HM4 194R 100-400-625 A Operating Handle

2090-CPBM7DF-14AA01 MP-Series 1m Standard Cable

2090-XXNPMP-16S40 MP-Series 40 m Length Power Cable

CBL-34-MP-10 Power cable for MTR-3N or MTR-3S30 or MTR-3S43-H series servo motors. 10 feet

GF-0207 Connecting FlashCable to Fowler Ultra Cal II, Ultra Height II.

IC200TBX220 Tool box, Micro 20, operator interface and software. Includes (IC200UDD020) 24VDC In/24VDC Out, requires 24VDC power, (IC200USB001) RS-232 option board with (2) 0 -10VDC analog in with VersaMax DataPanel DP 45 (IC200DTX450) with Proficy programming

IC646TBSPMPS800 Smart Process Monitoring Process+ server 800 loops

IC647NSL001 Proficy SQL 2005 - 1 Client Access License (order as separate item, not an option)

IC693ACC334 Faceplate provides a 24 pin fale Fujitsu connector for cable connection. Faceplate replaces I/O module terminal block (20 screw terminal connector).

IC752CBT000RR Datapanel 320T MB (Mono Base): 320x240 1/4 VGA Monochrome LCD with 803 86SX/40 PC processor. Analog touch screen with text, bitmaps, bar gra phs, real time clock.

IC800VMCP1200 Power cable for 1 kW VersaMotion servo motor- 20 meter

SLC/1746 System 1746-FIO4I (2) FAST ANALOG INPUTS, (2) ANALOG CURRENT OUPUTS

Industrial Computers 6189V-CDROM CD-ROM DRIVE

Application-specific products 1402-LS51 LINE SYNCHRONIZATION MODULE (LSM)

Operator Interface 2711-B6C5 PV600 COLOR KEY&TOUCH, RS232 (DH485)

Support 9301-2SE2400FRR SUPT REINSTATEMENT CONTRACT FOR 93012SE2400FR

Support 9307-EMCHTS SUPT RENEWAL CONTRACT FOR 9307EMCHTENE

DeviceNet Products 1734-IB8 24V DC 8 CHANNEL SINK INPUT MODULE

RSI Software Products 9301-2SE250ZHU4R RSVIEW32 WORKS 150-100K UPGRADE OUT-SUPT (ZH)

RSI Software Products 9358-BNT60UB1 UPGRADE: IN-SUPT: RSBATCH 60 UNITS TO BUNDLE

Motion Control MPL-B330P-RK22AA MOTOR,SERVO,4.18 NM,5000RPM,RSLVR,460V

Motion Control 2090-U3BK-D4409 BREAKOUT BOARD KIT,CONTROL,CN1,ULTRA 3000,9M

GFK-0726 90-30 PLC State Logic Processor User's Guide

IC646FXMU01 Proficy Change Management 1 User System

MSCPX-425606NT Marathon Exp CPU,850 MHz CPU, 128M, 6G, Win NT, 2 PCI/ISA, 1 PCI, 1 ISA

PSPC-DC50/EL Prof Shop Floor SPC DC 50 User w/ eSig

PXIe-2526

ACL-8112PG

超微X8DAE

ST-350U-AC

HIVERTEC HPC-DIO64

CHANCE-M64

1492-N38 TERM BLCK 2 Pole Uninsulated Jumper

接口模塊 6ES7360-3AA01-0AA0 IM360,接口模塊，用于主機(jī)架，可擴(kuò)展 3 個機(jī)架

行程開關(guān) 3SE53223SG23

TIA 博途 WinCC 選件 6AV2107-2KK00-0BD0 SIMATIC WinCC WebNavigator for Runtime Professional Powerpack 25 -> 50 Clients

1585J-M8HBJM-78 RJ45 Ethernet Media

1760-L12AWA-NC Pico 12 Point AC Controller

188-K2C020 Miniature Circuit Breaker 2 A

194L-A16-1753 16 A 194L Load Switch

2090-CHBP8S8-12AAP5 Kinetix 6000M IDM Hybrid Cable

2090-UXTBMP-18S20 MP-Series 20 m Length Brake Cable

BC647MPS001 Logic Developer PLC Standard with Proficy GlobalCare Complete with USB Hardware key

GC647IFSTDV00300 GCC iFIX Std HMI 300 I/O Dev

IC200CHS121 I/O interposing fuse style 16 point

IC646MSS005 Logic Developer State Standard 5 Pack

IC647IFSTRN00150K iFIX Standard HMI 150 I/O Runtime (M1 Kit Part)

IC670CHS102 I/O Base, Box Style, Hot Insertion obsolete. Recommended replacement is IC670CHS101 I/O Base, Barrier Style.

IC697GDH701 CIMPLICITY 70 Graphic Display Hardware Package (Repeat Systems)

IC800SKCPVL050 Power cable for SLM350 or SDM500 or SLM500 S-series servo motor to an S2K. 5 meters

ControlLogix/1756 System 1756-HSC 2 CHANNEL / 4 OUTPUT HIGH SPEED COUNTER (36 PIN)

Industrial Computers 6182H-12BEH4D VVCE 1250, KEY/TOUCH, EXT MEM, ENET, DC

Process Control 1757-PE1400RED2 PLX BACKUP SERVER ON DELL PE1400

Operator Interface 2711P-RGT7 PV PLUS/VVCE PROTECTIVE ANTIGLARE OVERLAYS QTY 3

Support 9355-WABOEMFRR SUPT REINSTATEMENT CONTRACT FOR 9355WABOEMFR

Support 9354-SS105S 9354-SS105 SOFTWARE SUPPORT CONTRACT RENEWAL

ControlNet Products 1734-IA2 120 VAC 2 CHANNEL INPUT MODULE

RSI Software Products 9301-2SE2400PTU3 RSVIEW32 WORKS 150-32K UPGRADE IN-SUPT (PT)

RSI Software Products 9357-ANETMDAD3E RSNETWORX MD FOR CNET,DNET,ENET ADD-ON

Motion Control MPL-A330P-MK22AA MOTOR,SERVO,4.18 NM,5000RPM,MULTI,230V,5.0KG

Motion Control 2090-UXNBMP-18S15 CABLE,ULTRA,NON-FLEX,MOTOR BRAKE,MP 15 MTR.

CBL-136 Cable. Mitsubishi A Series Prog. Port (RS-422)

IC600RR551RR RPU Rack With Power Supply, 115-230Vac

IC800SKCEZ050 Encoder Cable, S2K to 200-750W S-Series Servo Motors, 5 Meters

OC647IFESGSR00150C iFIX Optn: ESig & ERec 150 I/O Server (M1Component Part)

PXI-2502