工业机器人外文翻译.docx
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工业机器人外文翻译
附录外文文献
原文
IndustrialRobots
Definition
“Arobotisareprogrammable,multifunctionalmachinedesignedtomanipulatematerials,parts,tools,orspecializeddevices,throughvariableprogrammedmotionsfortheperformanceofavarietyoftasks.”
--RoboticsIndustriesAssociation
“Arobotisanautomaticdevicethatperformsfunctionsnormallyascribrdtohumansoramachineinormofahuman.”
--WebstersDictionary
Theindustrialrobotisusedinthemanufacturingenvironmenttoincreaseproductivity.Itcanbeusedtodoroutineandtediousassemblylinejobs,oritcanperformjobsthatmightbehazardoustodoroutineandtediousassemblylinejobs,oritcanperformjobsthatmightbehazardoustothehumanworker.Forexample,oneofthefirstindustrialrobotswasusedtoreplacethenuclearfuelrodsinnuclearpowerplants.Ahumandoingthisjobmightbeexposedtoharmfulamountsofradiation.Theindustrialrobotcanalsooperateontheassemblyline,puttingtogethersmallcomponents,suchasplacingelectroniccomponentsonaprintedcircuitboard.Thus,thehumanworkercanberelievedoftheroutineoperationofthistedioustask.Robotscanalsobeprogrammedtodefusebombs,toservethehandicapped,andtoperformfunctionsinnumerousapplicationsinoursociety.
Therobotcanbethoughtofasamachinethatwillmoveanend-of-armtool,sensor,andgrippertoapreprogrammedlocation.Whentherobotarrivesatthislocation,itwillperformsomesortoftask.Thistaskcouldbewelding,sealing,machineloading,machineunloading,orahostofassemblyjobs.Generally,thisworkcanbeaccomplishedwithouttheinvolvementofahumanbeing,exceptforprogrammingandforturningthesystemonandoff.
Thebasicterminologyofroboticsystemsisintroducedinthefollowing:
1.Arobotisareprogrammable,multifunctionalmanipulatordesignedtomoveparts,materials,tools,orspecialdevicesthroughvariableprogrammedmotionsfortheperformanceofavarietyofdifferenttask.Thisbasicdefinitionleadstootherdefinitions,presentedinthefollowingparagraphs,thatgiveacompletepictureofaroboticsystem.
2.Preprogrammedlocationsarepathsthattherobotmustfollowtoaccomplishwork.Atsomeoftheselocations,therobotwillstopandperformsomeoperation,suchasassemblyofparts,spraypainting,orwelding.Thesepreprogrammedlocationsarestoredintherobot’smemoryandarerecalledlaterforcontinuousoperation.Furthermore,thesepreprogrammedlocations,aswellasotherprogramdata,canbechangedlaterastheworkrequirementschange.Thus,withregardtothisprogrammingfeature,anindustrialrobotisverymuchlikeacomputer,wheredatacanbestoredandlaterrecalledandedited.
3.Themanipulatoristhearmoftherobot.Itallowstherobottobend,reach,andtwist.Thismovementisprovidedbythemanipulator’saxes,alsocalledthedegreesoffreedomoftherobot.Arobotcanhavefrom3to16axes.Thetermdegreesoffreedomoffreedomwillalwaysrelatetothenumberofaxesfoundonarobot.
4.Thetoolingandgrippersarenotpartoftheroboticsystemitself;rather,theyareattachmentsthatfitontheendoftherobot’sarm.Theseattachmentsconnectedtotheendoftherobot’sarmallowtherobottoliftparts,spot-weld,paint,arc-weld,drill,deburr,anddoavarietyoftasks,dependingonwhatisrequiredoftherobot.
5.Theroboticsystemcanalsocontroltheworkcelloftheoperatingrobot.theworkcelloftherobotisthetotalenvironmentinwhichtherobotmustperformitstask.Includedwithinthiscellmaybethecontroller,therobotmanipulator,aworktable,safetyfeatures,oraconveyor.Alltheequipmentthatisrequiredinorderfortherobottodoitsjobisincludedintheworkcell.Inaddition,signalsfromoutsidedevicescancommunicatewiththerobotinordertotelltherobotwhenitshouldassembleparts,pickupparts,orunloadpartstoaconveyor.
Theroboticsystemhasthreebasiccomponents:
themanipulator,thecontroller,andthepowersource.
A.Manipulator
Themanipulator,whichdoesthephysicalworkoftheroboticsystem,consistsoftwosections:
themechanicalsectionandtheattachedappendage.Themanipulatoralsohasabasetowhichtheappendagesareattached.Fig.1illustratestheconnectionofthebaseandtheappendageofarobot.
Thebaseofthemanipulatorisusuallyfixedtotheflooroftheworkarea.Sometimes,though,thebasemaybemovable.Inthiscase,thebaseisattachedtoeitherarailoratrack,allowingthemanipulatortobemovedfromonelocationtoanother.
Asmentionedpreviously,theappendageextendsfromthebaseoftherobot.Theappendageisthearmoftherobot.Itcanbeeitherastraight,movablearmorajointedarm.thejointedarmisalsoknownasanarticulatedarm.
Theappendagesoftherobotmanipulatorgivethemanipulatoritsvariousaxesofmotion.Theseaxesareattachedtoafixedbase,which,inturn,issecuredtoamounting.Thismountingensuresthatthemanipulatorwillremaininonelocation。
Attheendofthearm,awristisconnected.Thewristismadeupofadditionalaxesandawristflange.Thewristflangeallowstherobotusertoconnectdifferenttoolingtothewristfordifferentjobs.
Themanipulator’saxesallowittoperformworkwithinacertainarea.Thisareaiscalledtheworkcelloftherobot,anditssizecorrespondstothesizeofthemanipulator.Fig.2illustratestheworkcellofatypicalassemblyrobot.Astherobot’sphysicalsizeincreases,thesizeoftheworkcellmustalsoincrease.
Themovementofthemanipulatoriscontrolledbyactuators,ordrivesystems.Theactuators,ordrivesystem,allowsthevariousaxestomovewithintheworkcell.Thedrivesystemcanuseelectric,hydraulic,orpneumaticpower.Theenergydevelopedbythedrivesystemisconvertedtomechanicalpowerbyvariousmechanicaldrivesystems.Thedrivesystemsarecoupledthroughmechanicallinkages.Theselinkages,inturn,drivethedifferentaxesoftherobot.Themechanicallinkagesmaybecomposedofchains,gears,andballscrews.
B.Controller
Thecontrollerintheroboticsystemistheheartoftheoperation.Thecontrollerstorespreprogrammedinformationforlaterrecall,controlperipheraldevices,andcommunicateswithcomputerswithintheplantforconstantupdatesinproduction
Thecontrollersisusedtocontroltherobotmanipulator’smovementsaswellastocontrolperipheralcomponentswithintheworkcell.Theusercanprogramthemovementsofthemanipulatorintothecontrollerthroughtheuseofahand-heldteachpendent.Thisinformationisstoredinthememoryofthecontrollerforlaterrecall.Thecontrollerstoresallprogramdataoftheroboticsystem.Itcanstoreseveraldifferentprograms,andanyoftheseprogramscanbeedited.
Thecontrollerisalsorequiredtocommunicatewithperipheralequipmentwithintheworkcell.Forexample,thecontrollerhasaninputlinethatidentifieswhenamachiningoperationiscompleted.Whenthemachinecycleiscompleted,theinputlineturnson,tellingthecontrollertopositionthemanipulatorsothatitcanpickupthefinishedpart.Then,anewpartispickedupbythemanipulatorandplacedintothemachine.Next,thecontrollersignalsthemachinetostartoperation.
Thecontrollercanbemadefrommechanicallyoperateddrumsthatstepthroughasequenceofevents.Thistypeofcontrolleroperateswithaverysimpleroboticsystem.Thecontrollersfoundonthemajorityofroboticsystemsaremorecomplexdevicesandrepresentstate-of-the-artelectronics.Thatis,theyaremicroprocessor-operated.Thesemicroprocessorsareeither8-bit,16-bit,or32-bitprocessors.Thispowerallowsthecontrollertobeveryflexibleinitsoperation.
Thecontrollercansendelectricsignalsovercommunicationlinesthatallowittotalkwiththevariousaxesofmanipulator.Thistwo-waycommunicationbetweentherobotmanipulatorandthecontrollermaintainsaconstantupdateofthelocationandtheoperationofthesystem.Thecontrolleralsocontrolsanytoolingplacedontheendoftherobot’swrist.
Thecontrolleralsohasthejobofcommunicatingwiththedifferentplantcomputers.Thecommunicationlinkestablishestherobotaspartofacomputer-assistedmanufacturing(CAM)system.
Asthebasicdefinitionstated,therobotisareprogrammable,multifunctionalmanipulator.Therefore,thecontrollermustcontainsometypeofmemorystorage.Themicroprocessor-basedsystemsoperateinconjunctionwithsolid-statememorydevices.Thesememorydevicesmaybemagneticbubbles,random-accessmemory,floppydisks,ormagnetictape.Eachmemorystoragedevicestoresprograminformationforlaterrecallorforediting.
C.Sensors
Measurerobotconfiguration/conditionanditsenvironmentsendsuchinformationtoroborcontrolleraselectronicsignals(e.g.,armposition,presencsoftoxicgas).
D.Userinterfance
Thisisthepartfortheusertooperatearobot,i.e.,thecontrolpanel.
E.Manipulatorbase
Arobotmayworkinafixedbase,orinamobilebase,thatis,itcanmoveaboutbyemployingwheelsorlegs.
F.Powersupply
Thepowersupplyistheunitthatsuppliespowertothecontrollerandthemanipulator.Twotypesofpoweraredeliveredtotheroboticsystem.OnetypeofpoweristheACpowerforoperationofthecontroller.Theothertypeofpowerisusedfordrivingthevariousaxesofthemanipulator.Forexample,iftherobotmanipulatoridcontrolledbyhydraulicorpneumaticmanipulatordrives,controlsignalsaresenttothesedevices,causingmotionoftherobot.
Foreach