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1、Unit 5Introduction Industrial robots are relatively new electromechanical devices that are beginning to change the appearance of modern industry.Industrial robots are not like the science fiction devices that possess human-like abilities and provide companionship with space travelers.Research to ena
2、ble robots to“see”,“hear”,“touch”,and“listen”has been underway for two decades and is beginning to bear fruit.However,the current technology of industrial robots is such that most robots contain only an arm rather than all the anatomy a human possesses.Current control only allows these devices to mo
3、ve from point to point in space,performing relatively simple tasks.The Robotics Institute of America defines a 工业机器人工业机器人机电的机电的虚构，想象虚构，想象陪伴陪伴（生物体）结构（生物体）结构美国机器人学会美国机器人学会a robot as“a reprogrammable multifunction manipulator designed to move material,parts,tools,or other specialized devices through va
4、riable programmed motions for the performance of a variety of tasks”.A NC machining center would be qualified as a robot if one can interpret different types of machining as different functions.Most manufacturing engineers do not consider a NC machining center a robot,even though these machines have
5、 a number of similarities.The power drive and controllers of both NC machines and robots can be quite similar.Robots,like NC machines can be powered by electrical motors,hydraulic systems,or pneumatic systems.Control for either device can be either open-loop or closed-loop.In fact,many of the develo
6、pments used in robotics have evolved from the NC industry,and many of the manufacturers of robots also manufacture NC machines or NC controllers.可再编程的可再编程的机械手机械手有资格的有资格的相似之处相似之处液压的液压的气动的气动的开环的开环的闭环的闭环的演化，演变演化，演变 A physical robot is normally composed of a main frame(or arm)with a wrist and some tooli
7、ng(usually some type of gripper)at the end of the frame.An auxiliary power system may also be included with the robot.A controller with some type of teach pendant,joy-stick,or key-pad is also part of the system.A typical robotic system is shown in Fig.5.1.Robots are usually characterized by design o
8、f the mechanical system.A robot whose main frame consists of three linear axes is called a Cartesian robot.The Cartesian robot derives its name from the coordinate system.Travel normally takes place linearly in three-space.Some Cartesian robots are constructed like a gantry to minimize deflection al
9、ong each of the axes.These robots are referred to as gantry robots.Fig.5.2 shows examples of Cartesian robots.These robots behave and can be controlled similarly to conventional three-axis NC machines.Gantry structure are generally the most accurate physical structure for robots.手腕手腕夹持器夹持器辅助的，补充的辅助的
10、，补充的控制板控制板操纵杆操纵杆键盘键盘以以为特征为特征迪卡尔迪卡尔从从得到得到台架台架偏离偏离Gantry robots are commonly used for assembly where tight tolerance and exact location are required.A cylindrical robot is composed of two linear axes and one rotary axis.This robot derived its name from the work envelope(the space in which it operates)
11、,which is created by moving the axes from limit to limit.Fig.5.3 shows typical cylindrical robots.Cylindrical robots are used for a variety of applications,but most frequently for material-handling operations.Programming a robot In order for a device to qualify as a robot,it must be easily reprogram
12、mable.Nonprogrammable mechanisms,regardless of their potential flexibility by reassembly or rewiring,do not be qualified as robots.A class of devices that fit this category are fixed or variable-sequence robots.Many of these robots are pneumatically driven.Rather than controlling the robot path,the
13、device is 装配装配精密的公差（配合）精密的公差（配合）圆柱状的圆柱状的工件封装工件封装处理处理潜在的潜在的重新装配重新装配再接线再接线driven to fixed stops or switches via some form of ladder logic.Although the ladder programming qualifies for the definition of a robot,the switches or stops must normally be physically moved in order to alter the tasks being pe
14、rformed.Drive actuators or motors are turned“on”or“off”depending on the desired sequence of tasks and switch states.Robot operations for this type of system are normally limited to rather simple applications.Programming of more conventional robots normally takes one of three forms:(1)walk-through or
15、 pendant teaching,(2)lead-through teaching,or (3)offline programming.Each robot normally comes with one or more of these types of programming systems.Each has advantages and disadvantages depending on the application being considered.Walk-through or pendant teaching or programming is the most common
16、ly used robot programming procedure.In this type of programming,a pendant that 固定挡块固定挡块行程开关行程开关梯形逻辑图梯形逻辑图整体整体促动器，传动机构促动器，传动机构Normally contains one or more joy-sticks is used to move the robot throughout its work envelope.At the end of each teach point,the current robot position is saved.As was the c
17、ase with NC machines,some robots allow the programmer the option or defining the path between points.Again,these robots are called continuous-path systems.Systems that do not allow the user to specify the path taken are called point-to-point systems.Many continuous-path robots allow the user to defi
18、ne the path to be taken between successive points.That is,the user may define a straight-line,circular,or joint-interpolated path.In a straight-line path,the robots move between successive points in a straight-line in Cartesian space.Circular moves,as the name implies,take place in circles along one
19、 of the major planes.The path that the robot takes using a joint-interpolation scheme is not always easy to determine.In joint interpolation,each of the robot joints is moved at a constant rate so that all the axes start and stop at the same time.For 选择（的自由）选择（的自由）连续的连续的关节插补关节插补主平面主平面恒定的恒定的操纵杆操纵杆Car
20、tesian robots,straight-line and joint-interpolation schemes produce the same path.For the other types of robot systems,this is not true.Pendant programming systems normally have supplemental commands that allow the programmer to perform auxiliary operations such as close the end-effector,wait,pause,
21、check the status of a switch or several switches,return a complete status to machine,etc.the programmer walks the robot through the necessary steps required to perform a task,saving each intermediate step along with the auxiliary information.The teach pendant used to program the Fanuc MI robot is sh
22、own in Fig.5.4.附加的附加的中间的，居中的中间的，居中的ExercisesTranslate the following words into English工业机器人工业机器人可再编程的可再编程的液压的液压的气动的气动的机电的机电的工件封装工件封装圆柱状的圆柱状的梯形逻辑图梯形逻辑图industry robotreprogrammablehydraulicpneumaticelectromechanicalWork envelopcylindricalladder logic开环开环open-loop闭环闭环closed-loopTranslate the following
23、words into Chinesefictioncompanionshipanatomysimilarityevolvegripperauxiliary虚构，想象虚构，想象陪伴陪伴（生物体）结构（生物体）结构相似之处相似之处演化，演变演化，演变辅助的，补充的辅助的，补充的夹持器夹持器pendantjoy-stick操纵杆操纵杆悬挂式操纵板，操作面板悬挂式操纵板，操作面板key pad键盘键盘gantry台架台架potential潜在的潜在的Part B Grammar and Translation词义的正确选择词义的正确选择 1根据词类确定词义根据词类确定词义 For light work
24、,the drill press is widely used.对于对于轻型轻型工件，广泛使用台式钻床。工件，广泛使用台式钻床。When required,turn on the machine light,please.需要时，请打开机床需要时，请打开机床照明灯照明灯。Computer-control programmers and operators use computer numerically controlled(CNC)machines to cut and shape precision products,such as automobile parts,machine par
25、ts,and compressor.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、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、机器机器零件、零件、压缩机等。压缩机等。Before CNC programmers machine a part,they must carefully plan and prepare the operation.编程员在编程员在加工加工零件之前，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。备。2词义的引申词义的引申 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
26、根据上下文英译汉时，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“取意忘形取意忘形”的意译法。的意译法。There is no physical contact between workpiece and tool.工件和刀具不工件和刀具不直接直接接触。接触。The tailstock carries a hollow spindle which may
27、be advanced or retracted by a hand wheel.尾架上尾架上装有装有空心轴，可由手轮操作前进或后退。空心轴，可由手轮操作前进或后退。Person interested in becoming computer-control programmers or operators should be mechanically inclined and able to work independently and do highly accurate work.有意成为数控编程员或操作员者必须有意成为数控编程员或操作员者必须主修机械专业主修机械专业，并且能独立工作，完
28、成非，并且能独立工作，完成非常精细的工作。常精细的工作。3词类的转译词类的转译 绝大多数的英语句子需要通过词类转换的技巧才能译成通顺的汉语。一般来说，绝大多数的英语句子需要通过词类转换的技巧才能译成通顺的汉语。一般来说，词类转译还会伴随着句子成分的转译，二者不可能截然分开。词类转译还会伴随着句子成分的转译，二者不可能截然分开。The first benefit offered by all forms of CNC machine tools is improved automation.各类数控机床的第一个优点是自动化程度各类数控机床的第一个优点是自动化程度提高提高了。了。The second major benefit of CNC technology is consistent and accurate workpieces.数控技术的第二大优点是工件加工的数控技术的第二大优点是工件加工的一致性好一致性好，精度高精度高。All feedrate related points made during our discussion of straight line motion still apply.我们我们讨论讨论直线运动时所指出的有关进给速度的所有要点还是适用的。直线运动时所指出的有关进给速度的所有要点还是适用的。