工业机器人外文翻译.docx

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.

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