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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(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(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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ACE-832AP

DMC1600

AVerMedia V1A3-E

1492-SPM2C500 MCB Supplementary Protector 50 A

軟啟動(dòng)器 3RW30362BB04

電機(jī)啟動(dòng)器 3VU16403LS00

150-F251NBR SMC Flex Smart Motor Controller

1732E-16CFGM12P5QCR ArmorBlock 16 Point Configurable QC

1771-P5EK 1771 Power Supply

193-EEDP E1 Plus 3.2-16 A IEC Overload Relay

199-MSMA48 Surge Suppressor

2090-CPWM7DF-08AA90 MP-Series 90m Standard Power Cable

2097-F4 Kinetix 300/350 4.40 A Line EMI Filter

EDS-308-T C1 D2 8-port Unmanaged 10/100 Switch (-40 to 75 deg C op temp)

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

IC220ALG220 ANALOG IN, 15 BIT, VOLTAGE/CURRENT, 2CH (REQUIRES 1 IC220TBK061)

IC647CBL708 Cable, Workstation Intf. to Series Six CPU, Parallel, 10 feet

IC647PRTORAM Proficy Portal Oracle Connector (M4 Key)

IC693DSM302 DSM302 motion controller module

IC756ADV001J-99 DV Development - AIX Op Sys Addt'l User, Japanese, Version 9.9

MSI-IGC 7 Day x 24 Hour Support / GlobalCare

SLC/1746 System 1746-RT33 REPLACEMENT TERMINAL BLOCK

Distributed I/O 1738-OB4EM12 24VDC 4 SOURCING OUTPUTS WITH M12 CONNECTORS

Communications 1784-CP11 CABLE ASSY, 10FT/3.20M, IBM XT OR COMPATIBLE CMPTR

Operator Interface 2711-NP1 REPLACEMENT MOUNTING CLIPS

Support 9302-RTS SUPT RENEWAL CONTRACT FOR 9302RT

Support 9324-RL5300FRS SUPT RENEWAL CONTRACT FOR 9324RL5300FR

DeviceNet Products 2706-P43R INVIEW MESSAGE DISPLAY. 1 LINE, 20 CHARACTERS

RSI Software Products 9301-2SE335DEU1R RSVIEW32 RUNTIME 150-5K UPGRADE OUT-SUPT (DE)

RSI Software Products 9326-AD5WDENE WIRING DIAGRAM GENERATOR ADD-ON 5 USER

Motion Control MPG-A010-091S24 MOTOR,SERVO,GEAR RATIO 91,35NM,65RPM,SINGL,BRK

Silver Series 1785-V40L VME PLC-5/40 CONTROLLER W/EXT. LOCAL PORT

HE693PWR524 Power supply adapter for Series 90-30 to allow for redundant power supplies.

IC660BRD024 Genius 32point 12/24 Vdc Source Block for Redundancy "T" Configuration

QPICBDE0000 10.4" Color TFT, Blank Label, Ethernet, CF Card, 24VDC, UL, cUL, CE, UL1604

ST-5232 STXi Serial Interface module RS-485, 2 Channels

USB-8472

PCI-9113A

IMB-M40H

HSL-DO32-DB-N HSL

786LCD/S Std

ANLX800-ISA

1492-SJM5-10 IEC Term Blck 10 pole Side Jumper

人機(jī)界面 6AV6545-0BB15-2AX0 TP170B 觸摸屏，藍(lán)色，6 英寸，320? 240

6ES78331FA130YF5

1497B-A14-M11-0-N Control Power Transber

1606-XLS480E-3 Power Supply XLS 480 W Power Supply

1769-IA16 CompactLogix 16 Pt 120VAC D/I Module

189-AL02 MCB Accessory Auxiliary Contact

194R-HF-400-4U 194R Disc Switch Conductor Mtg Hdwre

2090-CPBM7DF-12AA25 MP-Series 25m Power and Brake Cable

2090-XXNPMP-16S15 MP-Series 15 m Length Power Cable

CBL-30-BT-20 Brake cable for MTR-3S or MTR-3N series servo motors with brake. 20 feet

GF-0201 Connecting FlashCable to Fowler Ultra Digit I and II.

IC200TBX164 Tool box, Micro 64 and software. Includes (IC200UDR164) 24VDC In/Relay Out, AC Power Supply, (IC200USB001) RS-232 option board with (2) 0 -10VDC analog in with Proficy software, manuals and cables (IC646MPM101)

IC646TBSPMPS500 Smart Process Monitoring Process+ server 500 loops

IC647NSF000 Siemens TCP/IP OPC Server

IC693ACC331 Base is discontiued. Use generic TBQC base IC693ACC329.

IC752CAB102 AB Micrologix cable for DataPanel 30/50

IC800VMCP1030 Power cable for 1 kW VersaMotion servo motor- 3 meter

SLC/1746 System 1746-OW4 RELAY OUTPUT MODULE FOR PROGRAMMABLE CONTROLLER

Industrial Computers 6189V-ACCORD IEC AC POWER CORD.

Application-specific products 1400-PD51B POWERMONITOR DISPLAY MODULE

Operator Interface 2711-B6C2L1 PV600 COLOR KEY&TOUCH, DH485

Support 9301-2SE2400DES SUPT RENEWAL CONTRACT FOR 93012SE2400DE

Support 9307-EM8MGRR SUPT REINSTATEMENT CONTRACT FOR 9307EM8MGRENE

DeviceNet Products 1734-IA2 120 VAC 2 CHANNEL INPUT MODULE

RSI Software Products 9301-2SE250ZHU1R RSVIEW32 WORKS 32K-100K UPGRADE OUT-SUPT (ZH)

RSI Software Products 9358-BNT60U2R UPGRADE: OUT-SUPT: RSBATCH 10 TO 60

Motion Control MPL-B330P-MK24AA MOTOR,SERVO,4.18 NM,5000RPM,MULTI,460V,BRK

Motion Control 2090-U3BC-D4401 BREAKOUT BOARD CABLE,CN1,ULTRA 3000,1M

GFK-0664 Axis Positioning Module (APM) Programmer's Manual

IC646CNC000 CIMPLICITY Client for Microsoft Windows with NetDDE

MSCPX-212806NT Marathon Exp CPU - 333 MHz AMD CPU, 128M, 6G, WinNT, 2 ISA and 2 PCI/ISA expansion slots

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

PXIe-2515

CONTEC COM-8(PCI)H

CI7BM-1.10

KVR16LS11/4

CIO-DAS1400

IEEE 1394A PCI

1492-N30 TERM BLCK 50 Pole Side Jumper

快速進(jìn)給/爬行定位模塊 6ES7351-1AH01-0AE0 FM351，快速進(jìn)給/爬行定位模塊，以雙速電機(jī)實(shí)現(xiàn)閉環(huán)定位，8DI/8DO，15?針D?型編碼器接口，20pin前連接器

行程開關(guān) 3SE53223SD23

TIA 博途 WinCC 選件 6AV2107-2KF00-0BD0 SIMATIC WinCC WebNavigator for Runtime Professional Powerpack 3 -> 10 Clients

1585J-M8HBJM-5 RJ45 Ethernet Media