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1、1应用机器人三要素TechnicalBases（1）performancerequirement（2）configurationrequirement（3）productfeature（4）equipmentreplacement（5）processchange9.1 Factors Considered in Applying Industrial Robots第1页/共30页2EconomicReasonsthefactorsconsideredineconomicincluding:（1）labor（2）material（3）productivity（4）energy（5）equipme
2、nt（6）cost9.1 Factors Considered in Applying Industrial Robots第2页/共30页3HumanFactors（1）operator（2）administratoranddepartment（3）maintainerandothersDateRecordingprovidearoughestimationofobservedapplicationprojects.9.1 Factors Considered in Applying Industrial Robots第3页/共30页4使用机器人的经验准则Estes(VernonE.Estes
3、)in1979,madeeightrulesfortheuseofrobots,knownasVernonrules,whichareasfollows:（1）Startingtherobotplansfrompoorconditions（2）Consideringtheapplicationofrobotsinthedepartmentwithlowproductivity.（3）Evaluatinglongtermneeds.（4）Makingworkingcostnottobeproportionaltothecostofrobots.（5）Strivingtosimplicityand
4、effectiveness.（6）Ensuringthesafetyofhumanandequipment（7）Dontexpectingsellerstoprovidefullturnkeyservices.（8）Dontforgettingthatrobotneedshuman.9.1 Factors Considered in Applying Industrial Robots第4页/共30页5采用机器人的步骤StepsforApplyingRobotsinproductionsystems:（1）Consideringallaspectsandmakingsuretheautomat
5、ionrequirements,suchasimprovingproductivity,increaseoutputs,reducinglaborintensity,improvingworkingconditionsandsoon.（2）Establishingrobotplans,includingdetermineautoma-tionobjectives,trainingtechnician,preparingtheapproximatescheduleandsoon.（3）Discusstherequirementsofapplyingrobots.（4）Normalizingthe
6、assistantoperationandtheperformanceoftherobots9.1 Factors Considered in Applying Industrial Robots第5页/共30页6StepsforApplyingRobotsinproductionsystems:（5）Designingtheprojectofrobotizationoperationsystem.（6）Choosesuitableevaluationcriterionforrobotsystem.（7）Detaileddesignandspecificimplementation.9.1 F
7、actors Considered in Applying Industrial Robots第6页/共30页7GeneralstepsforrobotstobeusedinproductionsystemsFig.9.1 Steps for Applying Robots9.1 Factors Considered in Applying Industrial Robots第7页/共30页89.2 Application Areas of Robots 机器人的应用领域Robots for IndustryComparedwiththetraditionalmachinerobot,itha
8、stwomainadvantages：Entirelyautomatizationinproductionprocess Itbringshighqualityproductionandwellqualitycontrol,andimprovetheabilitytoadapttheconstantlychanginguserneeds，soitwillimprovetheproductcompetitivenessinthemarket.StrongadaptabilityofproductionequipmentThedevicealsohastheabilitytoadapttofail
9、ures9.2 Application Areas of Robots第8页/共30页9RobotsforIndustrymainlyusedin:（1）AutomotiveIndustry（2）MachinebuildingandelectronicsIndustries(includingTelecommunicationsIndustry)（3）GeneralMechanicalIndustry（4）Architecture（5）Metalworking（6）FoundryIndustry（7）Others9.2 Application Areas of Robots第9页/共30页10
10、RobotsforIndustryclassifiedas：（1）MaterialsProcessing（2）Partsmanufacturing(including:forging,welding,brokenup,andcasting)（3）Producttesting(including:explicittest,implicittest)（4）Productassembly(including:materialsprocessing,on-linetesting,sparepartssupply,matchingagentssuchaspressureandtighteningproc
11、esses)9.2 Application Areas of Robots第10页/共30页11探索机器人RobotsforExploration（1）AutonomousRobotAutonomousrobotcanperformprogrammingtasksinharshenvironments.（2）RemoteControlRobotTheoperatorcontroltherobotinaharshenvironmenttocompletesometaskfromrelativelongdistanceaway.9.2 Application Areas of Robots第11页
12、/共30页TwomaintypesofrobotsforexplorationUnderwaterRobotAccordingtomovementmodes:（1）FloatingUnderwaterRobot（2）WalkingUnderwaterRobot（3）MobileUnderwaterRobotAccordingtopowersupplymodes:（1）CableUnderwaterRobot（2）WirelessUnderwaterRobot9.2 Application Areas of Robots12第12页/共30页13SpaceRobotThemaintaskofsp
13、acerobots:（1）Toexploreasapioneerinnon-humanlivingconditionssuchasthemoon,Marsandothersplanets.（2）InsteadofAstronautstocompletesatelliteservice,thespacestationserviceandtheexperimentunderspaceenvironment.9.2 Application Areas of Robots第13页/共30页14服务机器人Definition1Robotforserviceisasemi-autonomousorfull
14、-autonomousrobot，whichservicesforhumanhealth.Definition2Robotforservicecanbeseenasakindoffreeprogrammingmobiledevice,anditcanpartiallyorfullyautomaticcompleteservices.9.2 Application Areas of Robots第14页/共30页15Medicalrobotsappliedtothefollowingaspects:（1）DiagnosisRobot（2）NursingRobot（3）DisabilityandP
15、aralysisRehabilitationRobot（4）HouseholdRobot（5）EntertainmentRobot（6）Medicalandsurgicalrobot9.2 Application Areas of Robots第15页/共30页16Otherrobotsforservice:DeliverLettersRobotsTourGuideRobotsAddOilRobotsConstructionRobotsAgricultureandForestryRobots9.2 Application Areas of Robots第16页/共30页17军事机器人9.2 A
16、pplication Areas of RobotsGround military robots intelligent robot,including independent and semi-autonomous vehiclesremote-controlled robot,namely,Various remote unmanned vehiclesAerial military robots Marine military robots 第17页/共30页189.3 Application Examples of Industrial Robots 工业机器人应用举例Robots f
17、or Material Handling（材料搬运）CONSIGHTsystemdevelopedbyGeneralMotors(GM)isavisualcontrolsystemusedfortransportingandassemblingoftheparts.9.3 Application Examples of Industrial RobotsFig 9.3 Hardware diagram of CONSIGHT system第18页/共30页19FunctionsofCONSIGHTsystem:Determiningpositionsanddirectionsofvarious
18、mechanicalparts(includingcomplexcurveobjects).Itiseasytocompileprogramsonthesystembyinsertingthenewparts.Structurelightsubsystem,preventneedofhighscenecontrast.Processingimagedataeffectively,whichcontainsvideonoise,inmanytypicalenvironmentoffactory.9.3 Application Examples of Industrial Robots第19页/共
19、30页20Fig 9.4 Operating procedure of CONSIGHT monitoring system 9.3 Application Examples of Industrial Robots第20页/共30页21焊接机器人Weldingrobothasthelargestapplicationsinindustrialrobot.Fig 9.5 Simplified hardware diagram of HRGH-control system 9.3 Application Examples of Industrial Robots第21页/共30页22Thesys
20、temiscomposedoftwo-levelcontrolsystem:Firstlevelbasedonmicrocomputersystem.ThefirstlevelchoosesmicrocomputerIBM-PC/XT,withthefunctions:management,faultdiagnosisandmachinelanguageediting,compilerandetc.Secondlevelbasedonsingleboardcomputersystem.ChoosingTP-86singleboardcomputerasthesecondcontrolcircu
21、it,realizeservopositioncontrolfor5joints.9.3 Application Examples of Industrial Robots第22页/共30页23Figure 9.6 Software flowchart of HRGH-II 9.3 Application Examples of Industrial Robots第23页/共30页24喷漆机器人PJ-IpaintingrobotFig 9.8 Structure diagram of PJ-I control system 9.3 Application Examples of Industr
22、ial Robots第24页/共30页25Control softwareconsistsoftwomodules:TeachingmoduleReplaymodule.Structureofthesetwomodulearesimilar.Teaching programconsistsofthreetasks:TaskAcompletes initializationandcreatenewtask.TaskBconsistsof readingthecollecteddatainmemorybufferandwritingthemintothedisk.TaskCcontains mon
23、itoringoperationonpanelbuttons.9.3 Application Examples of Industrial Robots第25页/共30页26Fig 9.9 Teaching flowchart(a)Initialization,(b)Task A,(c)Task B,(d)Task C 9.3 Application Examples of Industrial Robots第26页/共30页27NCspray-paintsystemFig 9.10 Composition of NC Automatic spray system 9.3 Applicatio
24、n Examples of Industrial Robots第27页/共30页289.4 Summary 小结Generalconsiderationsfortheapplicationofrobots.Task,Technology,EconomyandPersonnel.Vernonprinciple,criteriaandexperiencewhenapplicationofrobots.Industrialrobotsapplications.MaterialHandlingWeldingRobotsPaintingRobotsRobotswillbeappliedinmorewidelyfields.ExplorationRobotsMilitaryRobotsServiceRobots 9.4 Summary第28页/共30页 谢谢大家！谢谢大家！29Fundamentals of Robotics第29页/共30页30感谢您的观看。第30页/共30页