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A16B-0160-0970

　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(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)�I/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�業(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。

上億庫(kù)存，國(guó)內(nèi)外近千個(gè)倉(cāng)庫(kù)，公司部分產(chǎn)品型號(hào)如下，歡迎聯(lián)系哦~！

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1494V-DSX100 Disconnect Switch

軟啟動(dòng)器 3RW44586BC35

運(yùn)行版軟件 6AV2103-0DA00-0AM0 SIMATIC WinCC 專業(yè)版 512 PowerTags (Compact Edition)

1585D-M8UGJM-40 Gigabit Ethernet Media

1756-M02AS ControlLogix Analog SSI Motion Module

180040-A01 KIT BUS CONTROL CARD

194E-FA40E 194E Load switch

2090-CFBM7DD-CEAF07 Kinetix 7m Flexible Cable

2090-U3BB-DM12 Ultra 3000 Breakout Board Kit

BC646MRA000 View Runtime 8000 I/O with Proficy GlobalCare Complete

GC647ARC050 GC Reporting Client 50 Pak

I5T/2 Proficy Process Systems Tuning Tools from ControlSoft for 10 Loops

IC646APS30005 CSense Predictive Soft Sensor 5 KPI's

IC647IFPLRN00075C iFIX Plus SCADA 75 I/O Runtime (M1Component Part)

IC660HHC005 Hand-Held Monitor Cable

IC697ACC805 I/O Cable (64 conductor) for IC697Vxxxxx modules. Ten feet long

IC756XDV010E-925 "DV-Draw Development on Solarisx86 Op Sys, English v9.25"

FlexLogix System 1794-TB3S FLEX I/O TERMINAL BASE WITH SPRING CLAMPS

GuardPLC Systems 1753-L28BBBM GUARDPLC 1600 - SAFETY PLC W/MODBUS, 28 I/O

Process Control 1757-UPGSIFG UPGRADE HW UDC 3000/5000/6300 QUICKBUILDER I/F

Operator Interface 2711P-K12C4D1 PV PLUS 1250, KEYPAD, RIO/DH, DC PS, STD MEM

Support 6008-SQS1S SUPT RENEWAL CONTRACT FOR 6008SQS1

Support 1400-SPR 1400-SP SOFTWARE SUPPORT REINSTATEMENT

Support F1785-L80C15SERF FIRMWARE UPGRADE FOR 1785-L80C15 PLC5 PROCESSOR MO

RSI Software Products 9301-2SE2350ESU1 RSVIEW32 WORKS 150-5K UPGRADE IN-SUPT (ES)

RSI Software Products 9701-VWSS250DEU1 RSVIEW SE 25 TO 250 DISPLAY UPGRADE (GERMAN)

RSI Software Products 9399-WAB32GR RSLINX GETTING RESULTS GUIDE

Motion Control 8720MC -B042-AN- 42 AMP B CHASSIS DRIVE, OPEN ENCL., LESS OPTIONS

BC646MPSU01 Logic Developer PLC Standard Edition with SAFE

IC300OCS301 OCS300 5.7" STN WITH ETHERNET

IC752WTD802 Display Station 2000 Series - 18.1" active matrix SXGA (1280x1024) resistive touch screen, Pentium 233 Mhz, 64 MB RAM, 6.4 GB HD, expansion slots, Ethernet, with unlimited point count CIMPLICITY HMI R&D and Win NT

MTR-3T43-J-R-0-M-0RR Servo Motor Metric

ZA81L-0001-0169 AC line filter rated 10.5 kW for Beta HVi series servo amplifiers

20DB130A0ENNANANE PowerFlex 700S AC Drive 20D

20G1ALC770AN0NNNNN PowerFlex 755 AC Packaged Drive

25B-D013N104 PowerFlex 525 5.5kW (7.5Hp) AC Drive

2711T-B10R1K1 MobileView Tethered Operator Terminal

6SE6420-2UD31-1CA1 11KW

1492-L4T IEC Term Blck 6.1x84x35.7mm Spr Clp

1494C-DJX622-A5-B1-D-E 200 A Flange Mtd Cable Switch

軟啟動(dòng)器 3RW44342BC34

電源 6ES7 505-0KA00-0AB0 PS：25 W，額定輸入電壓 DC 24 V

1585BZ-F8BF 1585 Ethernet Media Accessory

1747-L542 SLC 5/04 32K Controller

1791ES-IB16 Guard I/O 16 Point Digital Input

194E-AA00E 194E Load switch

2071-AP1 Kinetix 3 100W Component Servo Drive

2090-CSWM1DF-14AA02 Kinetix Cable Single DSL 2090-Series

20AC1P3C3AYNAEC0 PowerFlex 70 AC Drive 20A

GC646MDC700 Proficy GlobalCare Complete for Logic Developer - PC & View Development/Runtime 700 I/O

HE693DNT250 Discontinued Part. Check with GE IP on migration path.

IC600WD010 Expansion Rack I/O Cable, 10 feet (3m)

IC647HSTHDAM Historian OPC HDA Server Option (M4 Key)

IC655PWR514RR Power Supply, 6 Amp, 24Vdc

IC694MDL654 Input module 5/12 VDC (TTL) 32 point POS/NEG logic.

IC756WDC009E-27 DataViews Development System Visual Basic Java & C++ English v2.7

MicroLogix 1500/1769 System 1764-RPLTB2 REMOVABLE TERMINAL BLOCK KIT (21 PT)

PLC-5/1771 System 1784-CP6 CABLE ASSY, 10FT/3.05M,KT/KT2/KL TO PLC-5 (DIN)

Distributed I/O 1797-TPR CONTROLNET EX T-TAP RIGHT ANGLE

Communications D5000-6.6.5 KT DTL HP-UX SW INSTALLATION AND CONFIGURATION

Support 9321-L5160S SUPT RENEWAL CONTRACT FOR 9321L5160

Support 9358-HSTATHR SUPT REINSTATEMENT CONTRACT FOR 9358HSTATH

Support F1772-LG FIRMWARE UPGRADE FOR 1772-LG PLC2 PROCESSOR MODULE

RSI Software Products 9324-RLD300DEE RSLOGIX 5000 STANDARD, DEU

RSI Software Products 9304-WVPD300DU3 UPGRADE: IN-SUPT: WINVW 128 TO WINVW PRO DEV 3000

RSI Software Products 9358-PLTM2600ENE RSBIZ PLNTMET SEV 200 CELL

Motion Control 8720SM-075-S6SAS1 75 KW/137 AMP, 750 VDC, AC MOTOR WITH SRS60 ENC.

A06B-0034-B075#7008 B6/2000 Servo Motor, 32K Serial Encoder

IC200TBX228 Tool box, 28 point, (IC200UDR005) 24VDC In/Relay Out, requires 120VAC Power, VersaMax SE (IC200SET001) with all software, cables (IC640VPS002)and manuals.

IC698PSA350 RX7i PLC Power Supply, 85 to 264 VAC at 47 to 63 Hz Input, 350 Watt output

MTR-1350-E-D-E-0RR Stepping Motor Nema34 Encoder

ZA06B-0078-B503#0100 B12/3000is Servo Motor with Straight Shaft, Key, Brake and IP67 Sealing

20BD248A3AYNANC0 PowerFlex 700 AC Drive 20B

20G11RD3P4AA0NNNNN PowerFlex 755 AC Packaged Drive

25-FAN1-FE PowerFlex 520 Frame E Fan Kit

140XCP40200 Quantum 10槽本版安裝架, 20MM

FRN7.5F1S-4C 12KVA 16.5 A 7.5 KW 3相AC380V/50Hz/60Hz

Z-15GD-B 觸點(diǎn):1開/1閉,10A 250VAC機(jī)械壽命:1000萬(wàn)次?彈簧式短按鈕型

1492-SPM3C100-N MCB Supplementary Protector 10 A

軟啟動(dòng)器 3RW40472TB04

模擬量輸出模塊 ES7 232-4HB32-0XB0 SM 1232 AQ 2x14 位

150-SB2NBR SMC-50 SOLID STATE MOTOR CONTROLLER 110A

1734-PDN POINT I/O DeviceNet Interface Module

1783-MCF Stratix 8000 CompactFlash Spare Card

193-ESM-IG-30A-C55 E300/E200 30 Amp Sensing Module

20-750-I1B-C460D430 PowerFlex 750 Replacement Inverter

2090-CPWM7DF-14AF25 MP-Series 25m Length Power Cable