工业机器人分类介绍

1Introduction251.2Industrialrobots-definitionandclassification1.2.1Definition(ISO8373:2012)anddelimitationTheannualsurveyscarriedoutbyIFRfocusonthecollectionofyearlystatisticsontheproduction,imports,exportsanddomesticinstallations/shipmentsofindustrialrobots(atleastthreeormoreaxes)asdescribedintheISOdefinitiongivenbelow.Figures1.1showsexamplesofrobottypeswhicharecoveredbythisdefinitionandhenceincludedinthesurveys.Arobotwhichhasitsowncontrolsystemandisnotcontrolledbythemachineshouldbeincludedinthestatistics,althoughitmaybededicatedforaspecialmachine.Otherdedicatedindustrialrobotsshouldnotbeincludedinthestatistics.Ifcountriesdeclarethattheyincludeddedicatedindustrialrobots,oraresuspectedofdoingso,thiswillbeclearlyindicatedinthestatisticaltables.Itwillimplythatdataforthosecountriesisnotdirectlycomparablewiththoseofcountriesthatstrictlyadheretothedefinitionofmultipurposeindustrialrobots.Waferhandlershavetheirowncontrolsystemandshouldbeincludedinthestatisticsofindustrialrobots.Wafershandlerscanbearticulated,cartesian,cylindricalorSCARArobots.Irrespectivefromthetypeofrobotstheyarereportedintheapplication“cleanroomforsemiconductors”.Flatpanelhandlersalsoshouldbeincluded.Mainlytheyarearticulatedrobots.Irrespectivefromthetypeofrobotstheyarereportedintheapplication“cleanroomforFPD”.Examplesofdedicatedindustrialrobotsthatshouldnotbeincludedintheinternationalsurveyare:Equipmentdedicatedforloading/unloadingofmachinetools(seefigure1.3).Dedicatedassemblyequipment,e.g.forassemblyonprintedcircuitboards(seefigure1.3).IntegratedCircuitHandlers(pickandplace)AutomatedstorageandretrievalsystemsAutomatedguidedvehicles(AGVs)(see“WorldRoboticsServiceRobots”)ThesubmissionofstatisticsonindustrialrobotsismandatoryforIFRmemberassociations.Insomecountries,however,dataisalsocollectedonalltypesofmanipulatingindustrialrobots,thatis,bothmultipurposeanddedicatedmanipulatingindustrialrobots.Optionally,nationalrobotassociationsmaythereforealsosubmitstatisticsonalltypesofmanipulatingindustrialrobots,whichwillbeincludedinthepublicationWorldRoboticsundertherespectivecountrychapter.IndustrialrobotasdefinedbyISO8373:2012:Anautomaticallycontrolled,reprogrammable,multipurposemanipulatorprogrammableinthreeormoreaxes,whichcanbeeitherfixedinplaceormobileforuseinindustrialautomationapplications261IntroductionThetermsusedinthedefinitionaboveareexplainedinmoredetailbelow:Reprogrammable:designedsothattheprogrammedmotionsorauxiliaryfunctionscanbechangedwithoutphysicalalteration;Multipurpose:capableofbeingadaptedtoadifferentapplicationwithphysicalalteration;Physicalalteration:alterationofthemechanicalsystem(themechanicalsystemdoesnotincludestoragemedia,ROMs,etc.)Axis:directionusedtospecifytherobotmotioninalinearorrotarymode1.2.2ClassificationbytypesofrobotsInagreementwiththerobotsuppliers,robotsshouldbeclassifiedonlybymechanicalstructureasof2004.Classificationbymechanicalstructure•Linearrobots(includingcartesianandgantryrobots)•SCARArobots•Articulatedrobots•Parallelrobots(delta)•Cylindricalrobots•Others•NotclassifiedFigures1.1illustratesthemechanicalconfigurationofthesetypesofrobots.Below,somefurtherexplanationsanddefinitionsaregivenforthevariousclassificationsbytypesofrobots.Thenumberofaxesshouldbeunderstoodasthebasicfeaturesuppliedbytheproducerandnotaxesaddedlaterbytheuser.Robotsbrokendownbymechanicalstructurearebasedonthefollowingdefinitions:Cartesianrobot:robotwhosearmhasthreeprismaticjointsandwhoseaxesarecoincidentwithacartesiancoordinatesystemSCARArobot:arobot,whichhastwoparallelrotaryjointstoprovidecomplianceinaplaneArticulatedrobot:arobotwhosearmhasatleastthreerotaryjointsParallelrobot:arobotwhosearmshaveconcurrentprismaticorrotaryjointsCylindricalrobot:arobotwhoseaxesformacylindricalcoordinatesystem1Introduction27Figure1.1:Classificationofindustrialrobotsbymechanicalstructure281IntroductionExamplesofarticulatedrobots1,200kgpayloadcapacity-HandlingoflargestpartsandstructuresFlexiblemountingpossibilities–optimizedworkingrangeWeldingrobot1Introduction29TheSwingarmisanarticulatedrobotcombinedwithSCARAelementsDifferentdualarmrobots:301IntroductionExamplesofapplicationsofarticulatedrobotsHandlingformetalcastingPalletizingWeldingPaintingPackagingHandlingforforging1Introduction31FDPHandlingWaferhandlerExamplesofSCARARobots321IntroductionExamplesofapplicationsofSCARARobotsAssemblyPackagingExamplesoflinear/cartesian/gantryrobotsLinearRobotGantryRobotExamplesofapplicationsoflinear/cartesian/gantryrobotsHandlingforplasticmouldingSealing1Introduction33LaserWeldingPressingExamplesofparallelrobotsExamplesofapplicationsofparallelrobotsPickingandplacingAssembly341IntroductionHandlingExamplesofdedicatedindustrialrobotsnottobeincludedinthestatisticsDedicatedmachine-toolloaderPrintedcircuitboardassemblerAutomatedstorageandretrievalsystem