Summary of industrial robots knowledge

Introduction to industrial robots

    Industrial robots (English: industrial robot. Referred to as IR) is widely applicable to independent action, and multi-axis machinery and equipment. Where necessary, they are equipped with sensors, and its action steps include flexible, turn the programmable control (ie, in the course of their work, without any external intervention). They are usually equipped with a manipulator, tool or other assembly of the processing tools, as well as be able to perform the task of handling operations and manufacturing.

    Industrial robots in industrial production instead of the monotonous, frequent and repetitive work, long hours or dangerous operating in harsh environments, such as stamping, pressure casting, heat treatment, welding, painting, plastics forming simple machining and assembly processes, as well as in the atomic energy industry and other sectors, to complete removal of harmful materials or process operations.

In the late 1950s, the United States on the basis of the manipulator and manipulator, using the servo mechanism, and automatic control technology, developed the versatility of an independent industrial automatic operation, and as industrial robots; 1960s the beginning of the successful development of two industrial robots, and quickly be applied in industrial production; 1969, General Motors Corporation 21 industrial robot automatic production line for welding the car body. Since then, the industrial countries attach great importance to the development and application of industrial robots. Industrial robots have a certain versatility and adaptability, able to adapt to the many varieties, small batch production, the 1970s, often associated with digital control machine tools together and become an integral part of flexible manufacturing cells or flexible manufacturing systems.

Structure and classification

The industrial robot is composed of three basic components of the main drive system and control system. That is, the main base unit and the implementing agencies, including the arm, wrist and hand, some robot walking mechanism. Most industrial robots have six degrees of freedom of movement, of which the wrist is usually one to three degrees of freedom of movement; drive system including a power plant and transmission to the executing agency to produce the action; control system in accordance with program input of the drive system and the implementing agencies to issue a command signal, and control.

Industrial robot arm movement form is divided into four types. Cartesian coordinates of the arm can move along the three Cartesian coordinates; cylindrical coordinates of the arm for lifting, rotating and stretching movements; spherical coordinates of the arm rotation, tilt and telescopic; have more than one joint type of arm revolute joints.

The industrial robot according to the executive body movement control function can be divided into point and continuous path type. Point type only control point to another, the accurate positioning of the implementing agencies for machine loading and unloading, welding and general handling, loading and unloading operations; continuous path type can control the movement of the executive body of a given trajectory, suitable for continuous welding and painting and other operations.

The industrial robot according to the procedure input methods to distinguish between the programming input type and demonstrations to teach input categories. Programming input type is a good operating procedures have been incorporated in the computer file, sent through the RS232 serial or Ethernet communication to the robot control cabinet.

Teach teach input in two ways: one with a manual control by the operator to manipulate the box (teach), the command signal to the drive system, the executing agency by order of the requested action and the trajectory of drill again ; the other is by the operator direct leadership of the implementing agencies, according to the order of the requested action and the trajectory of the drill again. Teach the process at the same time, the working procedures of the information is automatically stored in program memory, the robot automatically work, the control system detected from the program memory, the appropriate information, instruction signals to the drive mechanism, the executing agency reproduction Teach a variety of actions. The industrial robot teach the input program is called to show the teaching and playback of industrial robots.

Tactile, force, or a simple vision of industrial robots can work in a more complex environment; such as the recognition feature, or to further increase the adaptive self-learning function, it becomes an intelligent industrial robots. It in accordance with the people to "macro" choice or by ourselves to adapt to the environment, and automatically complete the more complex work.

China's industrial robots

China's industrial robots started in the early 1970s, after 20 years of development has gone through three stages: infancy in the 1970s, the development period of the 1980s and 1990s the application of technology of

The 1970s was a milestone in world technological development: human beings landed on the moon, Venus, Mars, soft landing. China has also launched satellites. Industrial robot applications in the world set off a climax, in particular, more rapid development in Japan, it added to the growing shortage of labor. In this context, in 1972, China started to develop their own industrial robots.

1980s under the impact of the wave in the high-tech, with the deepening of reform and opening up, China's robotics development and research has been the government's attention and support. Seventh Five-Year Plan "period, the state invested to tackle the problems of industrial robots and their components, completed to show the development of teaching and playback technology package of industrial robots, developed a spray, spot welding, arc welding and handling robots. The National High Technology Research and Development Program (863 Program) of 1986, the theme of intelligent robots tracking the forefront of world robotics, after several years of research, a large number of scientific research, successfully developed a number of special robots .

Since the early 1990s, China's national economy into two fundamental period of change, setting off a new round of economic restructuring and technological progress boom, China's industrial robots and a major step forward in practice, has developed a spot welding, arc welding, assembly, painting, cutting, handling, packaging, palletizing a variety of uses such as industrial robots, and implemented a number of robot application engineering, the formation of a group of robots industrial base for our robot industry to take off the foundation. Although China's industrial robot industry is in constant progress, and international counterparts, the gap is still evident. From a market share of more can not be compared. The core technology of industrial robots, we have yet to master, this is an important bottleneck in the development of China's robotics industry.

How to make the robot to accurately identify and feel the objects

External objects by robotic electronic eye robot brain object graphics, fully formed by the pixel point, the robot is difficult to accurately identify the object graph.

In order to enable the robot to accurately identify the brain object graphics, first of all we should be this pixel object graphics into the robot can directly identify the object graphics, we can produce a variety of robot brain the nature of graphic particles and memory in the robot brain, constitute liquid particles constitute the solid particles can flow is not flow, the particles of soft objects able to compress the particles of a hard object can not be compressed and so on, these particles of different nature through the to the characteristics of different objects or liquids of different colors, gloss and surface of the automatic extraction.

Here we only particles of a solid nature to illustrate the robot object recognition, for example: When the robot through the electronic eyes in the brain formed a square, then the robot brain with memory particles automatically fill square (we call fill out an object graphics objects particulate graphics), we found that the square this time has been extracted, if we use the display to observe the square particle graphics of the robot brain, we will find this the four edges of the square particle graphics to display the four edges of the distance can easily be displayed, the length and width of the display is constant fixed value, so that the computer can be easily calculated the size of the square. We also need to set a particle residence time in the computer, that is, when after the disappearance of the graphics of a pixel and its corresponding particle graphics has a residence time, we can put this residence time is 0.05 seconds, which when we found that the robot brain square pixel graphics in a received a refresh, because the particles have a residence time so did not wait for the square of the particle graphics disappear new pixel graphics produced, so the square particle graphics this time only one. When this square in the fast-moving robot in front, then the residence time of the robot brain square particle graphics it will be in the robot brain to produce the same fast-moving, this is because when we fast-moving this square square pixel graphics refresh had a dislocation, then the square of the particle graphics has not disappeared, so the robot brain will be the square particle graphics shift to corresponding with the square pixel graphics, so that the square of the particle graphics on mobile. As the distance side of the screen four easily calculated, so the particle size of the graphic in this square is how to change the position of mobile robot can easily know the four edges of the square particle graphics.

Robot brain know an object particle graphics after the memory of the object particle graphics, so that the robot brain object, particle graphics, and other objects particulate graphics block this object particle graphics, robotics memory is still the object can be maintained as it is, for example: there are multiple objects in the robot around the environment graphics, then the robot brain will form a corresponding number of objects particulate graphics, when the movement of these objects sometimes block each other, then these objects, the robot brain particulate graphics still intact, so the robot will be able to know the object particle shapes are obscured part.

A feeling that we can set the distance the robot brain, that is a different distance will cause a different change in the robot body, such as current changes, such robots will in the brain of different shapes and different sizes of objects to produce a different feeling, for example: a square, long and wide in the sense that is the same, a rectangular length and width of feeling different, and so when the robot feeling to see the squares and rectangles.

How to make robots with human intelligence

As professor of the University of Pennsylvania School of Engineering and Applied Science, Daniel Lee has been involved in some important, and plenty of capital to the research project, aimed at expanding the scientific understanding of the human.
    Professor Lee over the past five years to participate in a series of projects, including the guidance of a competitive super puppy soccer team to participate in the California desert at the challenging road racing, as well as to teach a dog backflip. As he displayed as the last one to do up so easy. He placed three feet high performers on stage with a rubber pad, puppy pad for backflips. The dog successfully performing a backward somersault, but on the sets of the edge, shrank to the ground. Lee said: "They are sometimes not so smart."
    Professor Lee's research object is not a real dog, but the Sony Aibo (Aibo) robot. His research, some element of whimsical, but he was involved in the project - such as the guidance of the robot soccer team how to fight side by side, or let the autopilot equipped with sensors and small-engine car in heavy traffic city streets - will help him realize his own ambitions. In fact, that is simple, he just want to know how to make robots think and act like humans.
    Professor Li cooperation organized by Penn Engineering and the Wharton School MBA program in a lecture entitled "Intelligent Robot recently: the next step will be how? (Smart the Robots: What's Next?)," The seminar said, let the robot engaged in a variety of tasks, like humans, also need to explore uncharted territory. For years, researchers have only focused on developing the basic technology of the robot work. However, Lee pointed out that although this technology has been progress, but human intelligence - even the ability to recognize faces - is still our current capacity can not match. He also for their own areas of research, a key question: "Why is the establishment of artificial intelligence will be so difficult?"
To replace human soldiers

    The answer to this question will exceed the scope of academic research. In the U.S., the Pentagon has spent a lot - some analysts believe that over the years of its investment has reached $ 100 billion - Development of robots able to assist or replace human soldiers. U.S. Department of Defense's Future Combat System (Future Combat Systems, FCS) modernization program has been provided for the technology development funding for research. Li, where the Penn team won the Army Research Laboratory (Army Research Lab) $ 22 million in funding for the manufacture of independent operations in the theater of the robot.
    Lee believes that although the United States, the commercial development of automated robots for military purposes, but the smart robot still has a huge business opportunity. He pointed out that the intelligent robots of Japanese studies in order to help the rapid expansion of the older age groups to do the housework.
    In-depth study of the artificial intelligence aspects of commercial development may make the robot from one expert put it recently, "3D uses dull, dirty or dangerous (dull, dirty or dangerous) three purposes. March 31, Honda demonstrated a helmet-like device, it can read brain waves and transmit to Honda made a humanoid robot. With this device you can make, called "Love" (Asimo) robot to perform simple tasks, including moving its arm.
    Lee said: "In Japan, robots as a service." And allow the robot to perform business tasks is relatively slow progress in the United States. "In the U.S., the National Science Foundation (National Science Foundation) has also funded many research projects, the United States for the commercial use of robot-related research, more money from the defense budget."
    Lee envisages a future commercial application of robots. Of these technologies is likely to affect the future of industry and enterprise. He said: "We can create a lot of built-in sensors, actuators, and computing the micro-electronic technology, installations and equipment; The only problem is how to make them work smart and active in various environments. Future devices will not only store information, allowing users to play games, but also to provide more help. "
    Professor Lee received the professional training of physics, holds a BA from Harvard University and Massachusetts Institute of Technology condensed matter physics doctorate. Joined Bell Labs in the 1990s, robotics had a strong interest. He wanted to know why - despite the computer technologies such rapid development - the robot is still unable to perform the task of humans and other animals can be easily completed. Lee is now studying biology, hoping to learn more about human calculation information in order to apply it to the world of robots.
    Lee talking about the status of robot development, said: "These devices have been configured computer components and sensors, but people do not know how to use it." He believes that to create a smarter machine, the best The approach is to emulate the human brain.
    The analogy of biological principles to promote technology development is not a new concept. He pointed out that the People used to think that as long as the wings will be able to fly, until the early 20th century, the aerodynamic concept the first time been applied. "At that time someone would wear a pair of wings, jumped from the downstairs - the outcome can be imagined, this does not work." The reason why the Wright brothers in 1903 flight, because they carefully studied the mechanics of bird flight behind principles. Birds vibration of wings in order to maintain balance and move forward, but they can fly in the air at full speed, the curvature of their wings to the body under pressure is greater than the pressure of the head, lift flight. "So the pilot's main job is to use vibration to the aircraft wing parts radians.
    But the human brain does not like the bird's wing as easy to replicate.
    Lee pointed out that the computer can use the "exhaustive" analysis to defeat chess champion, but it He said that the human brain is a very sophisticated instrument, far beyond the scope of the people to understand. Traditional computer algorithms rely on fast search and brute-force calculation can not make the machines become smart, so we need to develop a new algorithm to deal with these issues in different ways, so that the robot can work in a complex environment. we have to do some productive work, but if you want a machine to become smart, and dogs still have a long way to go. "
    The robots have mastered the skills of some biological - Lee's Sony has demonstrated that love treasure robot. First, he would only electronic dog cried out loudly: "Hey," electronic dog turned his head at him. Then he walked to the other and saying: "hey, here", the dog also head turned to him. At the nanoscale in order to develop this robot technology, the designer must develop a sound sensor can simulate the human voice processing: the sound waves reach the left or right sensor speed difference can you tell the robot sound sources and head turning.
    Lee said, with a gradual increase in mission capability of the robot to sense its surroundings and implementation of mobile capacity - will gradually enhance their artificial intelligence - without continuous human guidance will be able to perform certain tasks. This is why four Sony love treasure robot composition football team's participation in international football match is not just an interesting entertainment, but Lee and his students also become a valuable learning tool.
"UPennalyzers" - by Professor Lee, the other teachers and students of the Penn Academy of Engineering to create the football team - 4 built-in computer of the robot. They can use the sensor analysis of 3 × 5-m arena, and through wireless communication with teammates - but do not need human control in 20 minutes of the game.
    Lee said the robot beginning of the game is cruel. Seen six or seven-year-old children play soccer? Everyone at the same time chasing a ball robot competition, so they either football trapped in the corner as long as half an hour, or put the ball into his own goal "But Lee play video UPennalyzers complex from the center of a recent game, show that the wisdom of the robot has gradually improve, to higher level of competition. "Now they can communicate: 'You are responsible for the eye on the ball, my defense'."
     The team used the robot rather than humanoid robot is extremely difficult because the two legs to move the robot, In recent years, Li and his team from the Pentagon's Defense Advanced Research Projects Agency (DARPA) to obtain at least $ 3.5 million in funding, training robots to walk and manufacture a way to use the machine to walk independently by the sensors in difficult terrain people. The military advantages of such a device - in a dangerous war zone transporting heavy loads through the mountains or the desert - is obvious, but walking on two legs are still like the holy grail of the robot programmer. He said: "They want a weight of 200 pounds through the high mountains of the machine, because the car is unable to climb the high mountains."
New use of the lighter?

    However, the wisdom of the development of unmanned vehicle - the project also received huge amounts of money in the DARPA goal is to achieve unmanned by 2015 one third of the U.S. Army vehicles can - Lee and his students the success and pride. Recently, they have short-listed the 2007 DARPA Urban Challenge, one of the six final teams to California Victorville an abandoned U.S. Air Force base entry.
    "Small" - Ben Franklin team of Penn and Lehigh University students and teachers to give them the modified Toyota Prius take the name - in the city streets on their own driving, while complying with traffic regulations and instructions and to avoid collision with the other finalists. To make the race more realistic and challenging, the 50 test driver wearing a crash helmet driving. After watching the bystanders stood thick concrete barriers.

Carnegie Mellon Institute and General Motors co-won the tournament and 2 million cash award; Stanford University received federal funding, for the manufacture of the intelligent machine car. Due to insufficient funds, the Ben Franklin team wisely configured with fewer sensors, creating a power consumption less car - burning less gas. Lee said: "With the Prius, we will be able to use lighter provide the impetus for all the computers in the car."

Lee told the Penn audience, when the robot to grasp the dish into the dishwasher this highly complex human task, we know that the robot has reached a higher first-class wisdom. He said: the development of industrial automation robots spent us a long time, and now we need a way to let the robot learn how to live in the dish into the dishwasher, because every night, dishes and glasses the number of different. "

IMPATIENS

(Holland 2013)
(Not including missile launcher) / 3.2m Height / 10.8t weight / 2 crew
When walking / maximum speed: 78km / h (when equipped with non-state primary weapon)
Antitank missile weapon / main, anti-aircraft missiles, and two twin 76mm rapid-fire gun (shown above is equipped with anti-tank missile type)
AFW new European Union army. Multipurpose vehicle-assisted walking.
Compared favorably with no upper body without A.F.W. that appeared in the 2000s, and covered some of the human type A.F.W. uneven terrain,
Although in close combat is not suitable, as logistic support vehicles and the performance is sufficient that you can use.
In addition to that, for cost-effective, was introduced into the army cost countries in a short period of time can be suppressed as low as about 3/5 of the human type A.F.W..
Type A.F.W. who are walking our main tank during exercise, but to be used as the stabilizer arms,
Walking vehicle does not have so-called upper body, since motion stability than the type person falls, many models with training wheels.
That does not leak to the case, which is equipped with training wheels on the bottom also to impatiens.
What mechanism is not a standard roller dash, dash maximum speed when using the wheel and the bottom is traveling at high speed can be 78km / h on the road pavement.
Eight missiles being fired from the group of type 2 anti-tank missile equipped with the above figure, twin missile launcher 4,
Nicknamed "Steel Burst (the outpouring of steel)" on the battlefield, and troops were terrorizing the enemy tanks.
To other impatiens are antitank missiles, and many other variations and two twin 76mm anti-aircraft gun rapid-fire anti-aircraft missile type is present, while the vehicle was also equipped with group 2 (bullet through the ground) mortar 40cm

STUHL D type

STUHL D type

■ STUHL D type (Germany 2010) / 1.9m Height / 12.8t weight / 1 crew (at least posture) 108km / h: bottom tire when traveling 55km / h: when walking / maximum speed The main weapon antitank gun / 90mm AFW new European Union army. Walking tank anti-tank. Small anti-tank walking tank with the name of the "chair". Toha path to evil in all four legs of its name is derived from. Can be distributed for the contact pressure in the legs of four, which is also excellent climbing ability in small lightweight Moreover, it is suitable for across the mountain, Military coup in suppression operations in the eastern border near the town of Berck Le Fichte Germany in 2014, Is also proven that surprise attack from behind the military coup in across the mountain from the northwest. On the road has been paved, it is possible to use the fast-moving wheel 6 on the bottom of the tire. When traveling to the tires, the rear leg is collapsed, the conversion is carried out by tilting direction of and attitude (can slide to the tip) of the nose landing gear wheel operation. For 90mm cannon was installed by force in a small turret, leaving the parking part of the machine, they've been out at the top of the barrel. The car is very narrow, of course, the crew will be on his back, but to steer it in a way that lie boarded with the knee in flexion, From the crew was quite unpopular places the burden on the knee and are riding for a long time. Beginning with the fourth stage production minutes per of which are slightly improved. (Design of their seats. There is a story that was designed by renowned German furniture designer, and Wolfgang Ice Ringer) E-type has been developed at the same time has been retrofit to Gatling gun, an antitank gun 90mm.

Me 3430G WAL

Me 3430G WAL

■ Me 3430G WAL (Germany 2014) 220.3t: gross weight 110.5t: weight 15m: Height: 56m: Width: 58m: Length Cruising speed: M0.92 (8000m altitude) Engine group: 4 A109C × (with a rocket booster) 6523km: range (when the ferry Empty Weight: 11956km) 80t: maximum payload Airborne military transport aircraft for the new European Union. Type of transport aircraft Gunship Me3430. Transport aircraft for airborne use to carry the front (four tanks) a platoon A.F.W.. Two sheets of lined up in a horizontal wing distinctive, significant effect to get the lift. In addition, by using a rocket booster has been expanded to four planes under jet engine, can take off and land in short distances. 105mm guns under the model, which is used to eliminate antiaircraft artillery and tanks, etc., the threat the ground, lowering the A.F.W. safely. Machine equipped with two anti-aircraft gunners, and from six air-to-air missiles for self-defense embedded. Transport aircraft for the Airborne was developed by Messerschmitt Me3320G showed a superior performance than other countries at the time of transport aircraft development. 2010, proposed the design of transport aircraft airborne use of performance Me3320 go on even more than the military, aircraft manufacturers were asked to six companies each. The end of the selection was narrowed down to two draft Messerschmitt's proposal, the proposed company EADS. Prototype is completed the following year, flight examination is performed. , But could not make the aircraft's development shows the performance is Messerschmitt-delayed, flight satisfactory at the time of the appraisal, Subject to review by the reluctance of finishing airframe hurried construction. As a result, EADS's proposal is adopted. However, the Messerschmitt company continues the development, completed a prototype of the machine four to six months later. Shown good results in-house testing. EADS is a prototype of the machine is ordered formally than 10 military, subject to review On the other hand the second flight. However, an aircraft crashed in an accident engine trouble during the examination. End to the disastrous results that are disintegrated due to lack of strength that a machine is, that there is a problem for practical use. Suddenly, it becomes subject to review machine is flying Messerschmitt fell in the first examination. As a result, the Messerschmitt machine shows excellent performance, has been formally adopted in June 2013.

15 two-legged tank Dongjiang fo

15 two-legged tank Dongjiang formula

■ (Tongan) Dongjiang tank bipod formula 15 (Republic of Han, 2010) / 4.6m Height / 16.2t weight / 2 crew 65km / h: when using the 49km / h dash Roller: When walking / maximum speed 75mm main gun weapon formula / 18 AFW Republican Army during the Han. Type attack / fighter type versus AFW. Of land to cover the vast expanse of the Republic of Hanzhong, two-legged tank type large mass production. To reduce the cost of production, have been used to such things inexpensive joint of sensors and motors, performance is slightly inferior compared to MBW in other countries. Inexpensive course has also been used nerve line, transmission speed is slower and FSB800. (: PANTHER A5 = FSB1333 case) Built-in roller dash is slow is feeble, and unfit for combat only real move. The crew seems to be quite unpopular. However, overwhelmed by the other strategy was to say to the number of destination in the War. Rankings constant. The key to success would be the pursuit of mass production by low-cost volume strategy was thorough, that the mass deployment. It is a vehicle has been developed in the provision of technology from Eastern Russia, as a specification of the unique large Han Chinese military, has been adopted in tandem A.F.W. of other countries are rare. Front seat is lower body, the rear seat is responsible for the operation of the upper body. It is that will compensate for lower performance in manpower and sensors, the computer, hence the amount of work assigned to each person is reduced, can be efficiently yard. However, if you can name two boarding, hit rate goes back up the greater body becomes, I'd say we Kayushi. By abnormal weather since the beginning of the 21st century, the unit can also be equipped for crossing across the river and was able to mesh as long in the country. When the crossing is, with a waterproof cover to each joint.

Back of the vehicle fuel tank shown above, the expression subdivide rare. Is usually equipped with integrated tank. Generator are mounted on the waist part, inexpensive things roundhouse is installed.