2024年4月29日发(作者：小米盒子3增强版配置和参数)

Industrial Robots

There are a variety of definitions of the term robot. Depending on the

definition used, the number of robot installations worldwide varies widely.

Numerous single-purpose machines are used in manufacturing plants that might

appear to be robots. These machines are hardwired to perform a single function

and can’t be reprogrammed to perform a different function. Such single-purpose

machines do not fit the definition for industrial robots that is becoming widely

accepted. This definition was developed by the Robot Institute of America:

A robot is a reprogrammable multifunctional manipulator designed to move

material, parts, tools, or specialized devices through variable programmed

motions for the performance of a variety of tasks.

Note that this definition contains two words reprogrammable and

multifunctional. It is these two characteristics that separate the true industrial

robot from the various single-purpose machines used in modem manufacturing

firms. The term reprogrammable implies two things: The robot operates according

to written program, and this program can be rewritten to accommodate a variety

of manufacturing tasks.

The term “multifunctional” means that the robot can, through

reprogramming and the use of different end-effectors, perform a number of

different manufacturing tasks. Definitions written around these two critical

characteristics are becoming the accepted definitions among manufacturing

professionals.

The first articulated arm came about in 1951 and was used by the U.S. Atomic

Energy Commissions in 1954 , the first programmable robot was designed by

George Devol. It was based on two important technologies:

（1） Numerical control （NC）technology

（2） Remote manipulator technology

Numerical control technology provided a form of machine control ideally

suited to robots.

It allowed for the control of motion by stored programs, these programs

contain data points to which the robot sequentially moves , timing singals to

initiate action and to stop movement, and logic statement so allow for

decision-marking.

Remote manipulator technology allowed a machine to be more than just

another NC machine. It allowed such machines to become robots that can perform

a variety of manufacturing tasks in both inaccessible and unsafe environments. By

merging these two technologies, Devol developed the first industrial robot, an

unsophisticated programmable materials handing machine.

The first commercially produced robot was developed in 1959. In 1962 , the

first industrial robot to be used on a production line was installed by General

Motors Corporation. This robot was produced by Unimation, A major step forward

in robot control occurred in 1973 with the development of the T-3 industrial robot

by Cincinnlti mihcrcon. The T-3 robot was the first commercially produced

Industrial robot controlled by a minicomputer.

Numerical control and remote manipulator technology program the

wide-scale development and use of industrial robots, but major technological

developments do not take place simply because of such new capabilities.

Something must provide the impetus for taking advantage of these capabilities. In

the case of industrial robots, the impetus was economics.

The rapid inflation of wages experienced in the 1970s, tremendously increased

the personnel costs of manufacturing firms. At the same time, foreign competition

became a serious problem for U.S. manufacturers. Foreign manufacturers who had

undertaken automation on a wide-scale basis, such as those in Japan, began to

gain an increasingly large share of U.S. and world market for manufactured goods,

particularly automobiles.

Through a variety of automation techniques, including robots, Japanese

manufacturers, beginning in the 1970s, were able to produce better automobiles

more cheaply than non-automated U.S. manufacturers. Consequently, in order to

survive, U.S. manufacturers were forced to consider any technological

developments that could help improve productivity.

It became imperative to produce better products at lower costs in order to be

competitive with foreign manufacturers. Other factors such as the need to find

better ways of performing dangerous manufacturing tasks contributed to the

development of industrial robots. However， the principal rationale has always

been, and is still, improved productivity.

One of the principal advantages of robot is that they can be used in settings

that are dangerous to humans, Welding and parting are examples of applications

where robots can be used more safely than humans. Even though robots are

closely associated with safety in the workplace, they can, in themselves, be

dangerous.

Robots and robot cells must be carefully designed and configured so that they

do not endanger human workers and other machines. Robot work envelops

should be accurately calculated and a danger zone surrounding the envelope

clearly marked off. Red flooring strips and barriers can be used to keep human

workers out of a robot’s work envelop.

Even with such precautions it is still a good idea to have an automatic

shutdown system in situations where robots are used. Such a system should have

the capacity to sense the need for an automatic shutdown of operation,

fault-tolerant computer and redundant systems can be installed to ensure proper

shutdown of robotics systems to ensure a safe environment.

工业机器人

关于机器人术语的定义多种多样。所使用的定义不同，全世界的机器人安装数量差别

很大。在制造工厂中使用的许多单用途的机器可能看起来会像机器人。这些机器是硬连线

的，不能被重新编程以执行不同的功能。这种单一用途的机器不能满足人们日益广泛接受

的关于工业机器人的定义。这个定义是由美国开发的机器人研究所提出的：

机器人是一种可编程的多功能操作器，被设计用来按照预先编制的、能完成多种作业

的与动程序来运送材料、零件、工具或者专用工具。

请注意，此定义包含两个单词“可编程”和“多功能”。正是这两个词将真正的机器人

与现代制造工厂中使用的单一用途的机器区分开来。可编程一词意味着两件事情：机器人

操作根据编写的程序，该程序可重写，以适应不同的制造任务。

所谓“多功能”的意思，机器人可以通过编程，执行不同的制造任务。围绕这两个关

键特征所撰写的定义正在为制造业的专业人员所接受。

第一个有活动关节的手臂于1951年被研制出来，由美国原子能委员会使用。1954年，

第一款可编程的机器人是由乔治Devol设计。这是基于两个重要技术：

（1）数控（NC）技术

（2）遥控机器人技术

数控机床技术提供了一种非常适合机器人的机器控制技术。 它可以通过存储的程序对

运动进行控制。这些程序包含机器人进行顺序运动的数据，开始运动和停止运动的时间控

制信号，以及做出决定所需要的逻辑语句。

遥控机器人技术使一台机器的性能超出一台数控机器。它可以使这种机器能够在不容

易进入和不安全的环境中完成各种制造任务。通过融合了上述两项技术，Devol研制出第

一台机器人，它是一个不复杂的、可以编程的物料运送机器人。

商业生产的第一台机器人的开发于1959年。 1962年，通用公司安装了第一台用于

生产线上的机器人，这个机器人是由尤尼梅森公司生产制。1973年，辛辛那提米兰克朗公

司研制出T-3工业机器人，在机器人的控制方面取得了较大的进展。T-3机器人是第一台

商业化生产的采用计算机控制的机器人。

数控技术和远程操作器技术推动了大范围的机器人研制和应用。但主要的技术发展并

不仅仅是由于这些新的应用能力而产生的，而是必须由这些能力所得到的效益来提供动力。

就工业机器人而言，这个动力是经济性。

在20世纪70年代，工资的快速增长大大增加了制造企业的人事成本。与此同时，来

自国外的竞争变成了美国制造商所面临的一个严峻的考验。诸如日本等外国的制造厂家在

广泛地应用了自动化技术之后，其工业产品特别是汽车，在美国和世界市场中占据了日益

增大的份额。

通过采用包括机器人在内的各种自动化技术，从20世纪70年代开始，日本的制造厂

家能够比没有采用自动化技术的美国制造厂家生产出更好的和更便宜的汽车。随后，为了

生存，美国制造厂家被迫考虑采用任何能够提高生产率的技术。

为了与国外制造厂家进行竞争，必须以比较低的成本，生产出更好的产品。其他的原

因诸如寻找能够更好地完成带有危险性的制造工作的方式也促进了工业机器人的发展。然

而，主要的理由一直是，而且现在仍然是提高生产率。

对机器人的主要优点之一是他们可以在对于人类来说是危险的位置上工作。采用机器

人进行焊接和切割工作时比由人工来完成这些工作更安全的例子。尽管机器人与工作地点

的安全密切相关，它们本身也可能是危险地、

机器人和机器人单元必须精心设计和配置，使它们不会危害人体和其他机器。应该精

确地计算出机器人的工作范围，并且在这个范围的四周清楚地标出危险区域。可以采用在

地面上画出红色的线和设置障碍物以阻止工人进入机器人的工作范围。

即使有这样的预防措施，在使用机器人的场地中设置一个自动停止工作的系统仍然是

一个好主意。机器人的这个系统应该是具有能够检测出是否有需要自动停止工作的要求的

能力。为了保证能有一个安全的环境，应当安装容错计算机和冗余系统来保证在适当的时

候停止机器人的工作。

Robot

The industrial robot is a tool that is used in the manufacturing environment to

increase productivity. It can perform jobs that might be hazardous to the human

worker. One of the first industrial robots was used to replace the nuclear fuel rods

in nuclear power plants. The industrial robot can also operate on the assembly line

such as placing electronic components on a printed circuit board. Thus, the human

worker can be relieved of the routine operation of this tedious task. Robots can

also be programmed to defuse bombs, to serve the handicapped, and to perform

functions in numerous applications in our society.

A robot is a reprogrammable, multifunctional manipulator designed to move

parts, materials, tools, or special devices through variable preprogrammed

locations for the performance of a variety of different tasks.

Preprogrammed locations are paths that the robot must follow to accomplish

work. At some of these locations, the robot will stop and perform some operation,

such as assembly of parts, spray painting, or welding. These preprogrammed

locations are stored in the robot’s memory and are recalled later for continuous

operation. Furthermore, these preprogrammed locations, as well as other program

data, can be changed later as the work requirements change. Thus, with regard to

this programming feature, an industrial robot is very much like a computer.

The robotic system can also control the work cell of the operating robot. The

work cell of the robot is the total environment in which the robot must perform its

task. Included within this cell may be the robot manipulator, controller, a work

table, safety features, or a conveyor. In addition, signals from outside devices can

communicate with the robot.

The manipulator, which does the physical work of the robotic system, consists

of two sections: the mechanical section and the attached appendage. The

manipulator also has a base to which the appendages are attached. The base of

the manipulator is usually fixed to the floor of the work area. Sometimes, through,

the base may be movable. In this case, the base is attached to either a rail or a

track, allowing the manipulator to be moved from one location to another.

The appendage is the arm of the robot. It can be either a straight, movable

arm or a jointed arm and gives the manipulator its various axes of motion. The

joined arm is also known as an articulated arm. At the end of the arm, a wrist is

connected. The wrist is made up of additional axes and a wrist flange. The

manipulator’s axes allow it to perform work within a certain area. This area is

called the work cell of the robot, and its size corresponds to the size of the

manipulator. As the robot’s physical size increases, the size of the work cell must

also increase.

The movement of the manipulator is controlled by actuators, or drive system.

They allow the various axes to move within the work cell. The drive system can use

electric, hydraulic, or pneumatic power. The energy developed by the drive system

is converted to mechanical power by various mechanical drive systems. The drive

systems are coupled through mechanical linkages. These linkages, in turn, drive

different axes of the robot. The mechanical linkages may be composed of chains,

gears, and ball screws.

The controller is used to control the robot manipulator’s movements as well

as to control peripheral components within the work cell. The user can program

the movements of the manipulator into the controller through the use of a

hand-held teach pendent. This information is stored in the memory of the

controller for later recall.

The controller is also required to communicate with peripheral equipment

within the work cell. For example, a controller has an input line. When the machine

cycle is completed, the input line turns on, telling the controller to position the

manipulator so that it can pick up the finished part. Then, a new part is picked up

by manipulator and placed into the machine. Next, the controller signals the

machine to start operation.

The controller can be made from mechanically operated drums that step

through a sequence of events. This type of controller operates with a very simple

robotic system. The controllers found on the majority of robotic systems are more

complex devices and represent state-of-the-art electronics. That is , they are

microprocessor-operated. This power allows the controller to be very flexible in its

operation.

The controller can send electric signals over communication lines. This

two-way communication between the robot manipulator and controller maintains

a constant update of the location and operation of the system. The controller also

has the job of communicating with the different plant computers. The

communication link establishes the robot as part of a computer-assisted

manufacturing （CAM）system. The microprocessor-based systems operate in

conjunction with solid-state memory devices. These memory devices may be

magnetic bubbles, random-access memory, floppy disks, or magnetic tape.

The power supply is the unit that supplies power to the controller and the

manipulator. Two types of power supply are delivered to the robotic system. One

type of power is the AC power for operation of the controller. The other type of

power is used for driving the various axes of the manipulator. For example, if the

robot manipulator is controlled by hydraulic or pneumatic drives, control signals

are sent to these devices, causing motion of the robot.

机器人

工业机器人是一种提高制造业生产力的工具。它可以承担那些对人类可能有危险的工

作。最早的工业机器人就曾用来在核能发电厂中更换燃料棒。工业机器人也能在装配线上

工作，如安装印刷电路板上的电子元器件。这样，人们就可以从这样单调的工作中解脱出

来。机器人还能拆除炸弹，为伤残人服务，为我们的社会做各种各样的工作。

机器人是一个可以重复编程的、多功能的工作机构，可以在各个预编程位置移动零件、

材料、工具或其它特殊装置，完成各种不同的工作。

预编程位置是指机器人完成工作时必须遵循的路径。在某些预编程位置，机器人会停

下来进行一些操作工作，例如安装零件、喷漆或焊接。这些预编程位置在机器人的存储器

中以便随时调出进行连续的操作。如果工作要求改变了，这些预编程位置连同其它的编程

数据也能随之改变。这些编程特征使得工业机器人与计算机非常类似。

机器人系统可以控制工作机器人的工作单元。机器人的工作单元是机器人执行任务时

的工作环境。工作单元包括机器人的机械手、控制器、工作台、安全装置以及传动装置。

此外，机器人应该能与外界信号进行交流。

机器人的机械手完成机器人系统的具体工作，它包括两个部分：机械部分和附属部分。

附属部分安装在机械手的基座上。基座固定在工作现场的地板上。但有时基座也是可以移

动的，在这种情况下，基座安装放在轨道上，用于把机械手从一个位置移动到另外一个位

置。

附属部分是机器人的手臂。它可能是一个直的可以移动的手臂，也可能是一个铰接的

手臂，为机械手提供多根工作轴。铰接的手臂也就是有关节连接的手臂。手臂的端部连有

一个手腕。手腕装在另一根轴上并装有法兰盘。在法兰盘上可以连接不同的工具完成不同

的工作。机械手上的轴允许机械手在一个特定的区域里工作。这个区域叫做机器人的工作

单元，它的大小取决于机械手的大小。如果机器人的尺寸增加，工作单元的尺寸也会增加。

机械手的运动由驱动器或驱动系统控制。它们驱动各轴在工作单元内旋转。驱动系统

可以是电力的、液压的，也可以是启气动的。驱动系统产生的动力经各种不同的机械结构

转换成机械能。各种驱动系统经机械传动装置相连。这些由链条、齿轮和滚珠杠组成的机

械传动装置驱动机器人的各轴。

控制器用于控制机械手的运动和工作单元内的外部设备。可以通过悬挂的手持键盘把

机械手的运动程序输入控制器。这些数据存储在控制器的内存中以备将来调用。

控制器还要能与工作单元内的外部设备进行通信。例如，控制器有一条输入线路。加

工完成时输入线路接通，告诉控制器让机械手在指定的位置挑出好加工的零件。机械手把

一个新的零件送入机器后，控制器发出信号，重新开始加工。

有些控制器由机械操作的磁鼓组成，内部输入一些事件执行的顺序。这种控制器一般

用于非常简单的机器人系统。多数机器人系统的控制器要复杂得多，反应了电子技术的最

新发展。它们由微处理器控制，操作起来更加灵活。

控制器可以在通信线路上传送电信号。这种机械手和控制器之间的双向通信不断地更

新系统的位置和操作。控制器工作还包括与不同设备的计算机进行通信。这种通信连接使

机器人成为计算机辅助制造系统的一部分。微处理器系统使用固态存储装置。这些存储装

置可能是磁泡、随机存储器、软盘及磁带。

控制器和机械手的动力由动力源供给。机器人系统一般使用两种动力：一种是供给控

制器的交流电；另一种动力源用于驱动机械手的各轴。例如，如果机械手是由液压或气动

驱动控制的，这些装置将接收控制信号，使机器人产生运动。