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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(wèn)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(guò)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(kāi)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。現(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(kāi)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(wèn)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(guò)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(guò)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(kāi)觸點(diǎn)閉合，常閉觸點(diǎn)斷開(kāi)。

　　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(guò)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(guò)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(guò)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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IC756CDV000J-98 DV Development - Compaq True64 Op Sys, Japanese, Version 9.8

MSI-MGMT-50 Production Management Clients 50 Pack

PLC-5/1771 System 1785-L40E ETHERNET/IP PLC-5/40 CONTROLLER, 48K WORD SRAM

Distributed I/O 1738-ADN18 DEVICENET ADAPTER WITH MINI CONNECTORS

Communications 1787-USADPTR U.S. P/S ADAPTER FOR 1770-KFD

Operator Interface 2711-NR5K CUTOUT ADAPTER TO MOUNT 1000/1000E/6182 12" KEYPAD

Support 9304-WVD256S SUPT RENEWAL CONTRACT FOR 9304WVD256

Support 9324-RLD25U6ESE RSLOGIX 5000 LITE SPANISH TO FULL UPGRADE

DeviceNet Products 2711-K5A10L1 PV550 MONOCHROME KEY, DNET & RS232 PRINT

RSI Software Products 9301-2SE335PTU1R RSVIEW32 RUNTIME 150-5K UPGRADE OUT-SUPT (PT)

RSI Software Products 9371-EDESI1U5R UPGRADE: OUT-SUPT: RSWIRE DET IEC/ACAD TO DES IEC

Motion Control MPG-B025-031M24 MOTOR,SERVO,GEAR RATIO 31,100NM,156RPM,MULTI,BRK

Silver Series 2711-T14C10 PV1400 COLOR TOUCH, DNET & RS232 PRINT

HE693STP104 One axis stepper bing module for Series 90-30 with Normally Closed Limit Inputs

IC670MDL240 120VAC Input 16 Pt. Grouped

QPJ2D100L2P QUICKPANEL JR. MONO 5" LCD

ST-7408 STXi Potential Distribution module for Shield module, with module ID type with LED

20BC2P1A0AYNANA0 PowerFlex 700 AC Drive 20B

20F1ANC302JA0NNNNN PowerFlex 753 AC Packaged Drive

22B-B033N104 PowerFlex 40- 7.5 kW (10 HP) AC Drive

140DAO84210C Quantum 開(kāi)關(guān)量AC輸出,16點(diǎn),110-230VAC,隔離,4組

284D-FVD6P0Z-25-CR-3-DB-SB-EMI DeviceNet Variable Frequency Drive

E3F3-D31 10cm,擴(kuò)散反射式, 明通，PNP 晶體管輸出100mA電源：10-30VDC直徑18mm

1492-SPM1B050-N MCB Supplementary Protector 5 A

6ED1055-1HB00-0BA0 LOGO!DM8 24R, 4DI/4DO

6ES73325HD014AB1

1497B-A9-M15-3-N Control Power Transber

1606-XLSBAT2 1606 26 Ah UPS Battery Power Supply

1769-L16ER-BB1B CompactLogix 384KB DI/O Controller

190-PY Circuit-Breaker Disconnect Accessory

194R-J30-1753S 194R Disconnect Switch

2090-CPBM7DF-14AA90 MP-Series 90m Standard Cable

2090-XXNPN-16S05 N-Series 5 m Length Motor Power Cable

CBL-3P-MP-10 Power cable for MTR-3S60-H series servo motors. 10 feet

GF-0817R Connecting FlashCable to Promeasure Scale.

IC200UAA003-24 Qty of 24, 14 point PLC, (8) 120VAC In, (6) 120VAC Out, 120V/240VAC Po (6) AC Out, AC Power supply.

IC646TBSPMSW010 Smart Process Monitoring SPC+ Web Clients 10 Pack

IC647NVC000 CIMPLICITY HMI Digital Graphical Replay (DGR)

IC693ALG221CA Conbal Coated Analog Input module, four point current.

IC752CGE203 VersaMax Nano/Micro, RF-45, RS-232 to DataPanel 150/160/240E

IC800VMM04LNKSE25 400 W VersaMotion servo motor (1.27 Nm)

SLC/1746 System 1746-NT4 THERMOCOUPLE/MV INPUT MODULE FOR PROGRAMMABLE CTRL

Industrial Computers 6189V-FANFIL1 FAN FILTER (1500W) 5-PACK (WORKSTATION)

Application-specific products 1403-LM05A MASTER MODULE FOR POWERMONITOR

Operator Interface 2711-K6C16L1 PV600 COLOR KEY, DF1 & RS232 PRINT

Support 9301-2SE2500ESS SUPT RENEWAL CONTRACT FOR 93012SE2500ES

Support 9380-RSB10000S SUPT RENEWAL CONTRACT FOR 9380RSB10000

DeviceNet Products 1734-IE2C 24V DC 2 CHANNEL ANALOG CURRENT INPUT MODULE

RSI Software Products 9301-2SE3103FRE RSVIEW32 RUNTIME 150 WITH RSLINX (FRENCH)

RSI Software Products 9358-BPC10U1 UPGRADE: IN-SUPT: RSBIZWARE PC PHASES 03 TO 10

Motion Control MPL-B420P-SJ22AA MOTOR,SERVO,4.74 NM,5000RPM,SINGL,460V,5.0KG

Motion Control 2090-S-BLHD SERCOS FIBER CABLE BULKHEAD ADAPTOR 2 PER

GFK-0846 Pro-Log GRI Genius I/O Interface for the Allen-Bradley PLC Reference Manual

IC646MDB159 Logic Developer 1500 Tag Runtime & Development System

MSDIS-1211 Discontiuned, Marathon 12", HiBrite Display, Keypad and Touch

PSPC-MONITOR50 Prof Shop Floor SPC Monitor 50 User

20BC022A0NYNANC0 PowerFlex 700 AC Drive 22 A at 11 kW 20B

20F11GC060AA0NNNNN PowerFlex 753 AC Packaged Drive

2198-S130-ERS3 Kinetix 5700 Single Axis Inverter

2711P-RDB7CK PanelView Plus Display Module

280D-F12Z-10C-CRW-3 ArmorStart Direct Online Starter

CQM1-II101 擴(kuò)展從站單元

1492-NM40BL TERM BLCK End Barrier

微存儲(chǔ)卡 6ES7953-8LG11-0AA0 MMC 微存儲(chǔ)卡 128K 用于 S7-300/C7/ET200S IM151CPU,3.3V NFLASH

變送器 3RS18002AP00

TIA 博途 WinCC 選件 6AV2107-0GA00-0BB0 SIMATIC WinCC Logging for Runtime Advanced

1585J-M8PBJM-20X 1585J Ethernet Media Cables

1760-L18DWD-EX Pico 18 Point Controller

188-K2D005 Miniature Circuit Breaker 0.5 A

194L-E12-1754 12A 194L Load Switch

2090-CNSSPRS-AA04 Kinetix 6000M network cable

2090-XNSM-W Kinetix Safe Off Header Connector Kit

BC647MVD000 ME View View OPC Driver License w/Global Care and Hardware Key

GC647IPWRPLRN00300M iPower Option - Nwk 300 I/O Run Globalcare Complete part

IC200DEM064 VersaMax Micro 64 Demo Carrying Case. Demo includes Micro 64 (IC200UDD064, DC supply, DC in and DC out) PowerCube stepper amplifier, stepping motor (MTR-1216-N-D-E-0), stepper cable (CBL-12-MP-10), PowerCube Flying Lead interface cable (IC800PCUBC02

IC646NDP000 CIMPLICITY NT distributor demo - 10 pack

IC647IFXPECLNT iFIX for Embedded XP Client Option

IC670MDL331 120VAC 2A Output, 8 Point, Isolated

IC697MDL252 12 Vac Input (32 Points)

IC800SLCEV100 Encoder cable for any 1 kW to 5 kW S-series servo motor. 10 meters

ControlLogix/1756 System 1756-TBE EXTENDED DEPTH TERMINAL BLOCK HOUSING

Industrial Computers 6182H-12KEH6D VVCE 1250, KEYPAD, EXT MEM, RIO/DH, DC

Process Control 1757-PFBUL002 PROFIBUS INTERFACE MODULE USAGE LICENSE

Operator Interface 2711P-RSACDIN PVP AC PWR SUPPL, 85-265VAC, DIN RAIL MOUNT

Support 9357-CNETMD3R SUPT REINSTATEMENT CONTRACT FOR 9357CNETMD3E

Support 9361-PTLSEATS SUPT RENEWAL CONTRACT FOR 9361PTLSEAT

ControlNet Products 1734-OW2 24 VDC COIL N.O. DPST RELAY MODULE

RSI Software Products 9301-2SE2400ZHU2 RSVIEW32 WORKS 300-32K UPGRADE IN-SUPT (ZH)

RSI Software Products 9323-LOOP01ENE RSLOOP OPTIMIZER

Motion Control MPL-A420P-SJ22AA MOTOR,SERVO,4.74 NM,5000RPM,SINGL,230V,5.0KG

Motion Control 2090-UXNFBN-R01 CABLE,ULTRA, NON-FLEX,RT ANGLE,1M

CBL-13-MP-30 Power Cable, MTR-1235, 13xx, 14xx & 1N Series Stepping Motors, 30 Ft.

IC600YR560RR 19" I/O Rack with High Capacity P/S, 115-230Vac (11 Slots)

IC800SLA0032 30W, 230 VAC SL Servo Amplifier

OC647IFGLBLCLN005M iFIX WebSpace 5 Additional Users (M4 key)

20AD2P1A0AYNNNC0 PowerFlex 70 AC Drive 2.1 A at 1 Hp 20A

20DC8P7A0EYNANCNK PowerFlex 700S AC Drive 8.7 A 4 kW 20D

20P21AD250RA0NNN PowerFlex 250 A DC Drive

2711-NF7 PanelView Accessory

280-PWRM22G-M3 ArmorConnect 3-PH Power Media drop cable