Unit 5 Industrial Robots.ppt

Unit5 IntroductionIndustrialrobotsarerelativelynewelectromechanicaldevicesthatarebeginningtochangetheappearanceofmodernindustry Industrialrobotsarenotlikethesciencefictiondevicesthatpossesshuman likeabilitiesandprovidecompanionshipwithspacetravelers Researchtoenablerobotsto see hear touch and listen hasbeenunderwayfortwodecadesandisbeginningtobearfruit However thecurrenttechnologyofindustrialrobotsissuchthatmostrobotscontainonlyanarmratherthanalltheanatomyahumanpossesses Currentcontrolonlyallowsthesedevicestomovefrompointtopointinspace performingrelativelysimpletasks TheRoboticsInstituteofAmericadefinesa 工业机器人 机电的 虚构 想象 陪伴 生物体 结构 美国机器人学会 arobotas areprogrammablemultifunctionmanipulatordesignedtomovematerial parts tools orotherspecializeddevicesthroughvariableprogrammedmotionsfortheperformanceofavarietyoftasks ANCmachiningcenterwouldbequalifiedasarobotifonecaninterpretdifferenttypesofmachiningasdifferentfunctions MostmanufacturingengineersdonotconsideraNCmachiningcenterarobot eventhoughthesemachineshaveanumberofsimilarities ThepowerdriveandcontrollersofbothNCmachinesandrobotscanbequitesimilar Robots likeNCmachinescanbepoweredbyelectricalmotors hydraulicsystems orpneumaticsystems Controlforeitherdevicecanbeeitheropen looporclosed loop Infact manyofthedevelopmentsusedinroboticshaveevolvedfromtheNCindustry andmanyofthemanufacturersofrobotsalsomanufactureNCmachinesorNCcontrollers 可再编程的 机械手 有资格的 相似之处 液压的 气动的 开环的 闭环的 演化 演变 Aphysicalrobotisnormallycomposedofamainframe orarm withawristandsometooling usuallysometypeofgripper attheendoftheframe Anauxiliarypowersystemmayalsobeincludedwiththerobot Acontrollerwithsometypeofteachpendant joy stick orkey padisalsopartofthesystem AtypicalroboticsystemisshowninFig 5 1 Robotsareusuallycharacterizedbydesignofthemechanicalsystem ArobotwhosemainframeconsistsofthreelinearaxesiscalledaCartesianrobot TheCartesianrobotderivesitsnamefromthecoordinatesystem Travelnormallytakesplacelinearlyinthree space SomeCartesianrobotsareconstructedlikeagantrytominimizedeflectionalongeachoftheaxes Theserobotsarereferredtoasgantryrobots Fig 5 2showsexamplesofCartesianrobots Theserobotsbehaveandcanbecontrolledsimilarlytoconventionalthree axisNCmachines Gantrystructurearegenerallythemostaccuratephysicalstructureforrobots 手腕 夹持器 辅助的 补充的 控制板 操纵杆 键盘 以 为特征 迪卡尔 从 得到 台架 偏离 Gantryrobotsarecommonlyusedforassemblywheretighttoleranceandexactlocationarerequired Acylindricalrobotiscomposedoftwolinearaxesandonerotaryaxis Thisrobotderiveditsnamefromtheworkenvelope thespaceinwhichitoperates whichiscreatedbymovingtheaxesfromlimittolimit Fig 5 3showstypicalcylindricalrobots Cylindricalrobotsareusedforavarietyofapplications butmostfrequentlyformaterial handlingoperations ProgrammingarobotInorderforadevicetoqualifyasarobot itmustbeeasilyreprogrammable Nonprogrammablemechanisms regardlessoftheirpotentialflexibilitybyreassemblyorrewiring donotbequalifiedasrobots Aclassofdevicesthatfitthiscategoryarefixedorvariable sequencerobots Manyoftheserobotsarepneumaticallydriven Ratherthancontrollingtherobotpath thedeviceis 装配 精密的公差 配合 圆柱状的 工件封装 处理 潜在的 重新装配 再接线 driventofixedstopsorswitchesviasomeformofladderlogic Althoughtheladderprogrammingqualifiesforthedefinitionofarobot theswitchesorstopsmustnormallybephysicallymovedinordertoalterthetasksbeingperformed Driveactuatorsormotorsareturned on or off dependingonthedesiredsequenceoftasksandswitchstates Robotoperationsforthistypeofsystemarenormallylimitedtorathersimpleapplications Programmingofmoreconventionalrobotsnormallytakesoneofthreeforms 1 walk throughorpendantteaching 2 lead throughteaching or 3 offlineprogramming Eachrobotnormallycomeswithoneormoreofthesetypesofprogrammingsystems Eachhasadvantagesanddisadvantagesdependingontheapplicationbeingconsidered Walk throughorpendantteachingorprogrammingisthemostcommonlyusedrobotprogrammingprocedure Inthistypeofprogramming apendantthat 固定挡块 行程开关 梯形逻辑图 整体 促动器 传动机构 Normallycontainsoneormorejoy sticksisusedtomovetherobotthroughoutitsworkenvelope Attheendofeachteachpoint thecurrentrobotpositionissaved AswasthecasewithNCmachines somerobotsallowtheprogrammertheoptionordefiningthepathbetweenpoints Again theserobotsarecalledcontinuous pathsystems Systemsthatdonotallowtheusertospecifythepathtakenarecalledpoint to pointsystems Manycontinuous pathrobotsallowtheusertodefinethepathtobetakenbetweensuccessivepoints Thatis theusermaydefineastraight line circular orjoint interpolatedpath Inastraight linepath therobotsmovebetweensuccessivepointsinastraight lineinCartesianspace Circularmoves asthenameimplies takeplaceincirclesalongoneofthemajorplanes Thepaththattherobottakesusingajoint interpolationschemeisnotalwayseasytodetermine Injointinterpolation eachoftherobotjointsismovedataconstantratesothatalltheaxesstartandstopatthesametime For 选择 的自由 连续的 关节插补 主平面 恒定的 操纵杆 Cartesianrobots straight lineandjoint interpolationschemesproducethesamepath Fortheothertypesofrobotsystems thisisnottrue Pendantprogrammingsystemsnormallyhavesupplementalcommandsthatallowtheprogrammertoperformauxiliaryoperationssuchasclosetheend effector wait pause checkthestatusofaswitchorseveralswitches returnacompletestatustomachine etc theprogrammerwalkstherobotthroughthenecessarystepsrequiredtoperformatask savingeachintermediatestepalongwiththeauxiliaryinformation TheteachpendantusedtoprogramtheFanucMIrobotisshowninFig 5 4 附加的 中间的 居中的 Exercises TranslatethefollowingwordsintoEnglish 工业机器人 可再编程的 液压的 气动的 机电的 工件封装 圆柱状的 梯形逻辑图 industryrobot reprogrammable hydraulic pneumatic electromechanical Workenvelop cylindrical ladderlogic 开环 open loop 闭环 closed loop TranslatethefollowingwordsintoChinese fiction companionship anatomy similarity evolve gripper auxiliary 虚构 想象 陪伴 生物体 结构 相似之处 演化 演变 辅助的 补充的 夹持器 pendant joy stick 操纵杆 悬挂式操纵板 操作面板 keypad 键盘 gantry 台架 potential 潜在的 PartBGrammarandTranslation 词义的正确选择1 根据词类确定词义 Forlightwork thedrillpressiswidelyused 对于轻型工件 广泛使用台式钻床 Whenrequired turnonthemachinelight please 需要时 请打开机床照明灯 Computer controlprogrammersandoperatorsusecomputernumericallycontrolled CNC machinestocutandshapeprecisionproducts suchasautomobileparts machineparts andcompressor 数控编程员和操作员使用数控机床切削形成精密产品 如汽车零件 机器零件 压缩机等 BeforeCNCprogrammersmachineapart theymustcarefullyplanandpreparetheoperation 编程员在加工零件之前 必须认真指定加工计划 工序 并为操作运行做准备 2 词义的引申英译汉时 有时会遇到某些在词典上查不到适当词义的词 这时应根据上下文和逻辑关系以及汉语的搭配习惯 从该词的基本词义出发 引申词义 从而准确地表达出原文的思想内容和语言风格 这就是所谓 取意忘形