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1、基于ABB工业机器人的现场应用编程摘要1998年ABB公司推出IRbl400系列小ABB机器人，其循环时间只有0.4s，控制器包括软件、高压电、驱动器、用户接口等皆集成于一柜，只有洗衣机变换器那样大小。FANUC公司2000年9月宣称它的控制器为世界最小。工业ABB机器人的应用从单机、单元向系统发展。多达百台以上的ABB机器人群与微机及周边智能设备和操作人员形成一个大群体(多智能体)。跨国大集团的垄断和全球化的生产将世界众多厂家的产品联接在一起，实现了标准化、开放化、网络化的“虚拟制造”，为工业ABB机器人系统化的发展推波助澜。ABB机器人技术是涉及机械学、传感器技术、驱动技术、控制技术、通信
2、技术和计算机技术的一门综合性高新技术，既是光机电软一体化的重要基础，又是光机电软一体化技术的典型代表。其产品主要有两大类，即以日本和瑞典为代表的一系列特定应用的ABB机器人，如弧焊、点焊、喷漆装备、刷胶和建筑等，并形成了庞大的ABB机器人产业。另一类是以美国、英国为代表的智能ABB机器人开发，由于人工智能和其它智能技术的发展远落后于人们对它的期望，目前绝大部分研究成果未能走出实验室。ABB机器人系统集成技术也是由几个主要发达国家所垄断。近年来，ABB机器人技术并未出现突破性进展，各国的ABB机器人技术研究机构和制造厂商都继续在技术深化、引进新技术和扩大应用领域等方面进行探索。采用 ABB IR
3、B1410 型ABB机器人作为集成控制系统的开发平台。IRB1410 型ABB机器人系统主要由 Flex Pendent 手持示教器、一个六自由度机械臂、IRC5控制器三部分组成，用户编程系统核心的用户编程语言和编程语言解释器或编译器可以根据需要来进行自主设计和开发。而在主开发用户编程语言集合的过程中，开发人员则可以根据自身特点、实际需要以及用户要求，在实现最基本的工业ABB机器人用户编程指令，例如，运动控制指令和 IO 控制指令的同时，增加相应功能的用户编程指令来实现个性化定制的用户编程语言，以便用户编程系统实现多样化，从而提高用户编程系统的灵活性，使其能够适应复杂多变的市场需求。以ABB为
4、基础，以运动控制为核心设计开发工业ABB机器人编程控制系统，通过采用系统化思维、模块化设计以及先进的计算机技术和编程理念，探索实现高效合理的控制系统体系结构和简明易用的用户编程系统。关键词： 机械手； 液压缸； 液压传动； 活塞Abstract1998 ABB IRbl400 series small robot, the cycle time of only 0.4 s, controller including software, high voltage, drive, and user interface are integrated in a cabinet, only washin
5、g machine size converter. FANUC company in September 2000 claimed its controller is the smallest. The application of industrial robots from single machine, the unit to the system development. Up to more than one hundred sets of machines of microcomputer and people in and around intelligent equipment
6、 and operating personnel to form a large group (multi-agent). Multinational conglomerates of monopoly and the globalization of the world many manufacturers products join together, has realized the standardization, open, networked virtual manufacturing, for the development of the industrial robot sys
7、tematic. Robotics is related to mechanics, sensor technology, drive technology, control technology, communication technology and computer technology of a comprehensive new and high technology, is not only the important opto-mechatronics integration of soft foundation, a typical representative of the
8、 soft and optical integration technology. Its products mainly include two categories, namely, represented by Japan and Sweden, a series of specific application of the robot, such as arc welding, spot welding, spray painting equipment, cementing and construction, etc., and formed a huge industry robo
9、t.Another kind is the intelligent robot development represented by the United States, Britain, due to the development of artificial intelligence and other intelligence is far behind the people expect of it, at present most of the results of the study are not out of the lab. Robot system integration
10、technology is dominated by several major developed countries. There was no breakthrough in recent years, robot technology, robot technology research institutions and manufacturers of all countries are to continue deepening in technology, the introduction of new technology to explore and expand the a
11、pplication field, etc. ABB IRB1410 robot is adopted as the development platform of integrated control system. IRB1410 The c-type robot system is mainly composed of Flex Pendent handheld demonstrator, a 6-dof mechanical arm and IRC5 controller. The user programming language and the interpreter or com
12、piler of the user programming system core can be independently designed and developed according to the needs. And in the process of the main development programming language collection of users, developers can according to their own characteristics, actual needs and user requirements, in the realiza
13、tion of industrial robot users of the most basic programming instructions, for example, the motion control instructions and IO control at the same time, increase the corresponding function of user programming instructions to realize the personalization user programming language, so that the user pro
14、gramming system implement diversification, so as to improve the flexibility of user programming system, enable it to adapt to the complex and changeable market demand.Based on ABB, the programming control system for industrial robots is designed and developed with motion control as the core. By adop
15、ting systematic thinking, modular design and advanced computer technology and programming philosophy, the system explores the realization of efficient and reasonable control system architecture and simple and easy-to-use user programming system.Key words： Manipulator; Hydraulic Cylinder; Hydraulic D
16、rive; Piston 目 录 第一章绪论 1 第二章手部结构设计 2 2.1 手抓的结构选定 2 2.2 液压缸的选定 3 2.2.1 液压缸内径的确定 3 2.2.2液压缸外径的确定 3 2.2.4 液压缸活塞杆的确定及校核 4 2.2.5 活塞的最大行程 4 2.2.6钢筒底部厚度的确定 4 2.2.7 缸盖螺钉的计算 5 2.2.8 钢筒头部法兰厚度的确定 6 2.2.9 液压缸其它元件的确定 7 第三章摆动缸的选定 8 3.1 联接部分的设计 8 3.2 连接部分材料的选定与连接方法 9 第四章手臂的结构设计 10 4.1 手臂的结构初定 10 4.2 小臂受力分析 10 4.3 小臂液压缸的确定 11 4.3.1 小臂液
