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mso-hansi-font-family:"Times New Roman"">通常工業機器人通過執行機構握持工件或工具，直接與工件或工具接觸。有些工業機器</span><span lang="EN-US"> </span><span style="font-family:宋體;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">人直接將工具</span><span lang="EN-US">(</span><span style="font-family:宋體;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">如電焊槍、油漆噴槍、容器等</span><span lang="EN-US">)</span><span style="font-family:宋體;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">固定在聯軸器上。執行機構可以抓取工件，</span><span lang="EN-US"> </span><span style="font-family:宋體; mso-ascii-font-family:"Times New Roman";mso-hansi-font-family:"Times New Roman"">并按規定的運動速度、運動軌跡把工件送到指定位置處，并放下工件。</span></p> <p class="MsoNormal"><span lang="EN-US"> </span><span style="font-family:宋體;mso-ascii-font-family:"Times New Roman"; mso-hansi-font-family:"Times New Roman"">機械本體是用來固定驅動裝置及其他裝置的。驅動系統安裝在機械本體內，其作用是向</span><span lang="EN-US"> </span><span style="font-family:宋體;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">執行元件提供動力。工業機器人本體，其臂部一般采用空間開鏈連桿機構，其中的運動副</span><span lang="EN-US"> (</span><span style="font-family:宋體;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">轉動副或移動副</span><span lang="EN-US">)</span><span style="font-family:宋體;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">常稱為關節，關節個數通常即為機器人的自由度數。</span></p> <p class="MsoNormal"><span lang="EN-US"> </span><span style="font-family:宋體;mso-ascii-font-family:"Times New Roman"; mso-hansi-font-family:"Times New Roman"">控制系統是工業機器人的指揮中心，控制工業機器人按規定的程序動作。控制系統還可</span><span lang="EN-US"> </span><span style="font-family:宋體;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">存儲各種指令</span><span lang="EN-US">(</span><span style="font-family:宋體;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">如動作順序、運動軌跡、運動速度以及動作的時間節奏等</span><span lang="EN-US">)</span><span style="font-family:宋體;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">，同時還向各個執行元件發出指令。必要時，控制系統還對機器人的動作加以監視，能自己排查出故障發生的原因并及時發出報警信號。</span></p> <p class="MsoNormal"><span lang="EN-US"> </span><span style="font-family:宋體;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">檢測系統主要用來檢測工業機器人執行系統所處的位置、姿勢，并將這些情況及時反饋給控制系統，控制系統根據這個反饋信息發出調整動作的信號，使執行機構進一步動作，從而使執行系統按照設定的精度到達規定的位置和姿勢。</span></p> <p class="MsoNormal"><span lang="EN-US"> 2. UP-6</span><span style="font-family:宋體;mso-ascii-font-family:"Times New Roman"; mso-hansi-font-family:"Times New Roman"">工業機器人系統的組成心</span></p> <p class="MsoNormal"><span lang="EN-US"> UP-6</span><span style="font-family:宋體;mso-ascii-font-family:"Times New Roman"; mso-hansi-font-family:"Times New Roman"">工業機器人為示教再現型機器人，是由操作者用示教編程器，將指令信號傳給驅動系統，使執行機構按要求的動作順序和運動軌跡操演一遍，在示教過程的同時工作程序的信息自動存人程序存儲器中，當機器人自動工作時控制系統從程序存儲器中檢出相應信息，將指令信號傳給驅動機構，使執行機構再現示教的各種動作，即先教會機器人動作，輸入工作程序，然后機器人自動重復進行作業。</span></p> <p class="MsoNormal"><span lang="EN-US"> UP-6</span><span style="font-family:宋體;mso-ascii-font-family:"Times New Roman"; mso-hansi-font-family:"Times New Roman"">工業機器人具有六自由度，該設備主要由機器人本體、控制器</span><span lang="EN-US">(XRC)</span><span style="font-family:宋體;mso-ascii-font-family:"Times New Roman"; mso-hansi-font-family:"Times New Roman"">、示教編程器、氣動手爪、底座和氣源等部分組成，工業機器人組成見圖</span><span lang="EN-US">65-1 e</span></p> <p><img src="/upload/images/201409/14103629078854.jpg" alt="" /></p> <p class="MsoNormal"><span lang="EN-US"> </span></p> <p class="MsoNormal"><span lang="EN-US">1)</span><span style="font-family:宋體; mso-ascii-font-family:"Times New Roman";mso-hansi-font-family:"Times New Roman"">機器人本體</span><span lang="EN-US">UP-6</span><span style="font-family:宋體;mso-ascii-font-family:"Times New Roman"; mso-hansi-font-family:"Times New Roman"">工業機器人本體具有六自由度，為六軸機械手結構，如圖</span><span lang="EN-US">65-2</span><span style="font-family:宋體;mso-ascii-font-family:"Times New Roman"; mso-hansi-font-family:"Times New Roman"">所式，分別為三個基軸</span><span lang="EN-US">(S, L,U)</span><span style="font-family:宋體;mso-ascii-font-family:"Times New Roman"; mso-hansi-font-family:"Times New Roman"">和三個臂軸</span><span lang="EN-US">(R, B, T)</span><span style="font-family:宋體;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">。每個軸均由伺服電機驅動，均裝有旋轉編碼器，可以隨時檢測每個軸的運動位置和速度，既保證了使其工作精度高，又使機械手的運動靈活。該工業機器人有關節坐標</span><span lang="EN-US">(</span><span style="font-family:宋體;mso-ascii-font-family:"Times New Roman"; mso-hansi-font-family:"Times New Roman"">見圖</span><span lang="EN-US">65-2)</span><span style="font-family:宋體;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">、直角坐標、圓柱坐標、工具坐標和用戶坐標等五種坐標系，見圖</span><span lang="EN-US">65-3 e</span></p> <p class="MsoNormal"><span lang="EN-US"> 2)</span><span style="font-family:宋體;mso-ascii-font-family:"Times New Roman"; mso-hansi-font-family:"Times New Roman"">控制箱</span><span lang="EN-US">(XRC)</span><span style="font-family:宋體;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">機器人要完成的各種操作的控制命令都是由控制箱</span><span lang="EN-US">(XRC)</span><span style="font-family:宋體;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">發出的，見圖</span><span lang="EN-US">65-4</span><span style="font-family:宋體;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">。其主要由以下部件組成</span><span lang="EN-US">:</span><span style="font-family:宋體;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">控制計算機、示教編程器、再現控制板、硬盤和軟盤存儲器、數字和模擬量輸入輸出、打印機接口、傳感器接口、軸控制器、通信接口、網絡接口等。主電源開關閉合則整個機器人系統得電接通。</span></p> <p class="MsoNormal"><span lang="EN-US"> </span><span style="font-family:宋體;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">①再現控制板再現控制板見圖</span><span lang="EN-US">6 5-5</span><span style="font-family:宋體;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">，由各種操作按鍵、狀態指示燈構成，主要為再現操作機器人時所需的操作鍵和按鈕，只完成基本功能操作。</span></p> <p class="MsoNormal"><span lang="EN-US"> </span><span style="font-family:宋體;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">②示教編程器示教編程器見圖</span><span lang="EN-US">65-6</span><span style="font-family:宋體;mso-ascii-font-family:"Times New Roman";mso-hansi-font-family: "Times New Roman"">，其上設有用于對機器人進行示教和編程時所需要的操作鍵，用于對機器人的工作軌跡和參數設定，以及所有人機交互操作，擁有自己獨的</span><span 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