Brief introduction
This book brings together the technical terms of industrial robots in various fields of practical applications. In the form of illustration，it is illustrated in both Chinese and English. There were more than 300 drawings. Technical terms include standard specifications，installation，setup，operation，programming，commands，parameters，advanced functions，tracking control，additional axis control，maintenance，inspection and other aspects of industrial robots. This book also introduces the applications of industrial robots in welding，transportation，polishing，loading and unloading of machine tool，cutting，spraying，as well as the latest technological progress of industrial robots. This is a reference book of great practical value for engineers，designers，maintenance technicians，teachers and students in universities who are engaged in the field of automation and robotics.
內(nèi)容簡介
本書匯集了工業(yè)機器人在實際應(yīng)用各領(lǐng)域中的技術(shù)術(shù)語，以圖解的形式，用中英文兩種文字進行了說明，計圖300余幅。技術(shù)術(shù)語包括工業(yè)機器人的技術(shù)規(guī)格、安裝、設(shè)置、操作、編程、指令、參數(shù)設(shè)置、高級功能、跟蹤控制、附加軸控制、維護保養(yǎng)等方面。本書還介紹了工業(yè)機器人在焊接、搬運碼垛、打磨拋光、機床上下料、切割、噴涂等各方面的應(yīng)用以及工業(yè)機器人最新技術(shù)進展。
對從事自動化和機器人工作領(lǐng)域的工程師、設(shè)計人員和維保技師以及相關(guān)專業(yè)的高校師生來說，這是一本極具實用價值的參考工具書。
Chapter 1Standard Specifications of the Robot 機器人的技術(shù)規(guī)格 001
1.1Robot arm機器人本體 001
1.2Rated load and operating range額定負載與動作范圍 002
1.2.1Relationship between mass capacity and movement area for 4-axis robot4軸機器人負載質(zhì)量與動作范圍關(guān)系 002
1.2.2Relationship between mass capacity and movement area for 6-axis robot6軸機器人負載質(zhì)量與動作范圍關(guān)系 003
1.3Relationship between mass capacity and speed負載質(zhì)量與速度的關(guān)系 004
1.4Relationship between height of shaft（J3 axis）and acceleration/deceleration speedJ3軸行程高度與加減速度的關(guān)系 005
1.5Outside dimensions外形尺寸 006
1.6Tooling工具（外圍附件） 007
1.7Controller控制器 010
1.8Options選件 018
Chapter 2Installing the Robot機器人的安裝 022
2.1Unpacking to installation開箱及安裝 022
2.2Connecting the power cable and grounding cable連接電源電纜和接地電纜 023
2.3Attachments installation procedures附件安裝 026
Chapter 3Setting the Robot機器人的設(shè)置 030
3.1Setting the origin原點設(shè)置 030
3.1.1Origin data input method數(shù)據(jù)輸入方式 030
3.1.2Preparing the T/B操作使用T/B示教單元 031
3.2Resetting the origin原點重新設(shè)置 032
3.2.1Mechanical stopper method機械擋塊方式 034
3.2.2Jig method校正棒方式 037
3.2.3ABS origin methodABS設(shè)置原點方式 039
3.3Changing the operating range調(diào)整運行范圍 042
3.3.1The structure of mechanical stopper機械擋塊的構(gòu)成 042
3.3.2The installation of stopper block機械擋塊的安裝 042
3.3.3Installation of J1 axis operating range change optionJ1軸行程擋塊的安裝 043
Chapter 4How to Operate Robot機器人的操作 045
4.1Operation panel（O/P）functions操作面板的使用 045
4.2Installation of teaching pendant示教單元的安裝 047
4.3Explanation of operation methods操作方式說明 048
4.3.1JOINT jog關(guān)節(jié)型點動 049
4.3.2XYZ jog直交型點動 053
4.3.3TOOL jog以工具坐標系為基準點動 057
4.3.43-axis XYZ jog三軸型點動 060
4.3.5CYLINDER jog圓柱型點動 063
4.3.6WORK jog在工件坐標系中的點動 067
4.4Aligning the hand機械手整列操作 073
Chapter 5Programming機器人編程 075
5.1Creation procedures編制程序的流程 075
5.2Creating the program新建程序 076
Chapter 6Commands of the Robot機器人編程指令 080
6.1Coordinate system description of the robot機器人使用的坐標系種類 080
6.2Mechanical interface coordinate system機械接口坐標系 083
6.3Tool coordinate system工具坐標系 084
6.3.1Definition定義 084
6.3.2Effects of using tool coordinate system使用工具坐標系的效果 085
6.4Robot operation control機器人動作指令 086
6.4.1Interpolation movement插補指令 086
6.4.2Cnt（Continuous）連續(xù)軌跡運行 089
6.4.3Pallet operation碼垛指令 091
6.5Robot operation control機器人運行控制 094
6.6Detailed explanation of command words指令詳細解釋 106
Chapter 7Functions Set with Parameters參數(shù)設(shè)置 111
7.1Standard tool coordinate標準工具坐標系 111
7.2Standard base coordinate標準基本坐標系 114
7.3Free plane limit自由平面限制 118
7.4Automatic return setting after jog feed at pause點動暫停后返回軌跡設(shè)置 119
7.5Warm-up operation mode暖機運行模式 120
7.6High-speed RAM operation image高速RAM運行圖 121
7.7Collision detection function碰撞檢測 122
7.8Simulation and robot calibration operation模擬及機器人校準運行 123
Chapter 8Advanced Functions高級功能 124
8.1Configuration flag結(jié)構(gòu)標志 124
8.1.1Configuration flag of 6-axis robot6軸機器人的結(jié)構(gòu)標志 124
8.1.2Configuration flag for horizontal multi-joint robot水平多關(guān)節(jié)型機器人的結(jié)構(gòu)標志 126
8.2Spline interpolation樣條曲線插補 126
8.3Ex-T control以外部原點為基準的控制 130
8.3.1Outline概述 130
8.3.2Ex-T coordinate settingEx-T坐標系設(shè)置 131
8.3.3Operation操作 133
8.4Cooperative operation function聯(lián)合操作功能 141
Chapter 9Tracking Control跟蹤控制 147
9.1Tracking systems跟蹤系統(tǒng) 147
9.1.1Configuration example of conveyor tracking systems傳輸線跟蹤系統(tǒng) 147
9.1.2Configuration example of vision tracking systems視覺跟蹤系統(tǒng) 148
9.1.3Measures against the noise抗電磁干擾 149
9.1.4Calibration operation for conveyor and robot傳送帶和機器人的校準操作 150
9.1.5Tracking check function跟蹤核查功能 150
9.2Circular arc tracking圓弧跟蹤 150
Chapter 10Additional Axis附加軸 153
10.1Outline概述 153
10.2Additional axis function附加軸功能 161
Chapter 11Maintenance and Inspection維護和保養(yǎng) 162
11.1Robot arm structure機器人構(gòu)造 162
11.1.1Structure for horizontal multi-joint type robot水平型機器人的構(gòu)造 162
11.1.2Structure for 6-axis robot6軸機器人的構(gòu)造 163
11.2Installing/removing the cover蓋板安裝與拆卸 164
11.3Inspection，maintenance and replacement of timing belt同步帶檢查保養(yǎng)及張緊度調(diào)整 166
11.3.1Inspection and maintenance of timing belt for horizontal multi-joint type robot水平型機器人同步帶的檢測和維護 166
11.3.2Inspection and maintenance of timing belt for 6-axis robot6軸機器人同步帶保養(yǎng)維護 167
11.3.3Tension adjustment of timing belt同步帶的張緊調(diào)整 169
11.4Lubrication潤滑 170
11.5Replacing the battery更換電池 172
11.6The check of the filter，cleaning，exchange過濾窗的檢查、清洗及更換 173
11.7Overhaul大修 175
Chapter 12The Application of Robots in Welding Industries機器人在焊接行業(yè)中的應(yīng)用 176
12.1Composition and structure組成結(jié)構(gòu) 177
12.2Feature特點 178
12.3Structure design結(jié)構(gòu)設(shè)計 179
12.4Equipment裝備 180
12.5Welding application焊接應(yīng)用 180
12.5.1Workstation工作站 180
12.5.2Box welding robot workstation箱體焊接機器人工作站 181
12.5.3Robot flexible laser welding machine機器人柔性激光焊接機 183
12.5.4Shaft welding robot workstation軸類焊接機器人工作站 184
12.5.5Robot welding stud workstation機器人焊接螺柱工作站 184
12.6Welding robot production line焊接機器人生產(chǎn)線 185
12.7Application of welding robot in automobile production焊接機器人在汽車生產(chǎn)中的應(yīng)用 187
12.8Characteristics of arc welding弧焊特點 188
12.8.1Basic function基本功能 188
12.8.2Welding equipment焊接設(shè)備 189
12.8.3Maintaining維護保養(yǎng) 190
Chapter 13The Application of Robots in Other Industries機器人在其他行業(yè)中的應(yīng)用 191
13.1Application of robot in transportation industry機器人在搬運碼垛行業(yè)中的應(yīng)用 191
13.2Application of robot in polishing industry機器人在打磨拋光行業(yè)中的應(yīng)用 194
13.3Application of robot in machine tool industry機器人在機床加工行業(yè)中的應(yīng)用 197
13.3.1Overview概述 197
13.3.2Loading and unloading robot features上下料機器人的特點 198
13.3.3Robot classification機器人分類 199
13.3.4Working example工作樣例 202
13.4Application of robot in cutting industry機器人在切割行業(yè)中的應(yīng)用 209
13.5Application of robot in spraying industry機器人在噴涂行業(yè)中的應(yīng)用 210
Chapter 14Robot Force Sensing Control機器人的力覺控制 214
14.1What is the force sensing control function？什么是力覺控制功能？ 214
14.2Terms術(shù)語 215
14.3System composition系統(tǒng)構(gòu)成 215
14.4Force sense coordinate system力覺坐標系 217
14.4.1The definition of the force sense coordinate system力覺坐標系的定義 217
14.4.2Force sensor coordinate system力覺傳感器坐標系 219
14.5Program程序 221
14.5.1Mode switching模式切換 221
14.5.2Sample program 1樣例程序１ 221
14.5.3Sample program 2樣例程序２ 224
14.5.4Sample program 3樣例程序３ 225
14.5.5Sample program 4樣例程序４ 228
14.6Stiffness controlling剛度控制 229
14.6.1Stiffness controlling principle剛度控制原理 229
14.6.2Change control characteristics 1改變控制特性1 231
14.6.3Change control characteristics 2改變控制特性2 231
14.7Assembly裝配 234
14.7.1Case 1案例1 234
14.7.2Case 2案例2 235
14.7.3Case 3：data latching and reading案例3：數(shù)據(jù)鎖存及讀取 237
14.7.4Data transfer case數(shù)據(jù)傳送案例 238
14.7.5Position alignment push in位置對準推入 238
References參考文獻 241
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