Industrial robot history and characteristics
Historical evolution
The earliest known industrial robots, conforming to the ISO definition, were completed and published by the "Regulations" Griffith P. Taylor in 1937, Meccano Magazine, March 1938. Almost completely a Meccano piece built with a crane-like device and powered by a single motor. Five axes of motion are possible, including grabbing and grabbing rotation. Automation is done with a perforated paper tape powered solenoid, which will facilitate the movement of the crane's lever. The robot can stack bricks in a preset pattern. The number of revolutions required for each desired motion motor is plotted on the coordinate paper for the first time. This information is then transferred to the tape, which also drives the individual motor of the robot. 1997, a complete copy of the robot built by Chris Shute.
George Divo applied for the first robot patent in 1954 (granted in 1961). The first company to make robots was UnimaTIon, founded by Divo and founded by Joseph F. Engelberger in 1956, and is based on Divo's original patent. UnimaTIon robots are also known as programmable transfer machines because their primary purpose at the beginning was to transfer objects from one point to another, separated by less than ten feet. They use hydraulic actuators and program the joint coordinates, ie the angles of the joints in the storage and playback operations in one teaching phase. They are accurate to 1/10,000 of an inch. After UnimaTIon authorized its technology, Kawasaki Heavy Industries and GKN, manufactured Unimates in Japan and the United Kingdom respectively. UnimaTIon's only competitor for some time is Ohio, Cincinnati Milacron. This fundamentally changed the late 1970s, when several large consortiums of Japan began producing similar industrial robots.
In 1969, Victor Schainmann invented Stanford's arm at Stanford University, an all-electric, 6-axis articulated robot designed to allow an arm solution. This allows it to accurately track the more complex applications of robots with potential paths in space, such as assembly and welding. Scheinman designed the second arm of the MIT Artificial Intelligence Laboratory, known as the "MIT Institute's Arm." Scheinman, receiving a scholarship from Unimation to develop his design, sold to those who designed Unimation who further To develop their support, General Motors, and later it was listed as a programmable general purpose machine assembly (PUMA).
Industrial robots took off quite fast in Europe, both ABB robots and KUKA robots brought the robot market. In 1973, ABB robots (formerly ASEA) introduced IRB 6, the world's first commercially available all-electric microprocessor-controlled robot. The first two IRB 6 robots were sold to Magnuson in Sweden for grinding and polishing tube bending and were installed in production in January 1974. Also in 1973, KUKA robots built their first robot, being Called FAMULUS, also a first joint robot with 6 electromechanical drive shafts.
In the field of robotics in the late 1970s, many American companies increased their interest in the field, including large companies such as General Electric and General Motors (which formed the joint venture FANUC robot with FANUC Japan LTD). American startups include Automatix and skilled technology, the company's boom in robotics in 1984, and Unimation acquired Westinghouse Electric's $1.07 million. Westinghouse sold Unimation to Stäubli Favez SCA in France in 1988, still working on articulated robots for general industrial and clean room applications, and even bought the Robotics Division, Bosch at the end of 2004.
Only a handful of non-Japanese companies manage to survive in this market, the main ones are: skilled technology, Stäubli, Unimation, in Sweden - Swiss company ABB Assia Brown Boveri, KUKA robots in Germany and Italy Company Comau. [1]
main feature
The industrial robot proposed by Dywal has the following characteristics: the servo axis of the CNC machine tool is coupled with the linkage mechanism of the remote control manipulator. After the preset manipulator action is programmed, the system can run independently without the assistance of the person. . The robot can also accept various simple repetitive actions by teaching. During the teaching process, the robot can sequentially pass through various positions of the work task, all of which are recorded in the memory, during the execution of the task, each of the robots The joints sequentially reproduce the above positions under servo drive, so the main technical functions of such robots are called "programmable" and "teaching reproduction".
In 1962, some industrial robots introduced in the United States were similar in control to CNC machines, but the shape was mainly composed of human hands and arms. Later, an industrial robot system with visual sensors, recognizable and positioned, emerged.
The most notable features of industrial robots are the following:
(1) Programmable. Further development of production automation is flexible start-up. Industrial robots can be reprogrammed as their working environment changes. Therefore, it can play a very good role in flexible manufacturing processes with small batches and multiple varieties with balanced and high efficiency. It is an important part of flexible manufacturing systems.
(2) Personification. Industrial robots have similar human walking, waist, arms, arms, wrists, and claws on the mechanical structure. There is a computer in control. In addition, intelligent industrial robots have many human-like "biosensors" such as skin contact sensors, force sensors, load sensors, vision sensors, acoustic sensors, and language functions. Sensors improve the ability of industrial robots to adapt to the surrounding environment.
(3) Universality. In addition to specially designed dedicated industrial robots, general industrial robots have better versatility when performing different tasks. For example, replacing industrial robot hand end operators (hands, tools, etc.) can perform different tasks.
(4) Industrial machinery technology involves a wide range of disciplines, which are summarized in the combination of mechanics and microelectronics - mechatronics technology. The third generation of intelligent robots not only have various sensors for acquiring external environmental information, but also have artificial intelligence such as memory ability, language understanding ability, image recognition ability, reasoning and judgment ability, etc. These are applications of microelectronic technology, especially computer technology. The application is closely related. Therefore, the development of robotics will certainly drive the development of other technologies. The development and application level of robotics can also verify the development level of a country's science and technology and industrial technology.
Today's industrial robot technology is gradually developing towards the ability to walk, have multiple sensing capabilities, and have a strong adaptive ability to the working environment. Currently, the countries most influential in the development of global robotics are the United States and Japan. The United States is still in the leading position in the comprehensive research level of industrial robot technology, and the number of industrial robots produced in Japan ranks first in the world in terms of quantity and variety.
(1) Advanced industrial robots integrate advanced manufacturing technologies such as precision, flexibility, intelligence, software application development, etc., through the detection, control, optimization, scheduling, management and decision-making of the process, to increase production and improve quality. Reducing costs, reducing resource consumption and environmental pollution are the highest manifestations of industrial automation.
(2) Technology upgrade Industrial robots and automation equipments have the technical characteristics of fine manufacturing, fine processing and flexible production. It is a new generation of production tools that extend the physical strength and intelligence of human beings after power machinery and computers. An important means of digitization, automation, networking and intelligence.
(3) Wide range of applications Industrial robots and automation equipment are the key equipment in the production process. They can be used in manufacturing, installation, testing, logistics and other production processes, and are widely used in automobile and auto parts, engineering machinery, rail transit, Low-voltage electrical appliances, electric power, IC equipment, military, tobacco, finance, medicine, metallurgy, printing and publishing, and many other industries, the application field is very extensive.
(4) Technically integrated industrial robots and automated complete sets of technologies, which integrate and integrate multiple disciplines, covering a variety of technical fields, including industrial robot control technology, robot dynamics and simulation, robot construction finite element analysis, laser processing technology, Advanced manufacturing technologies such as modular programming, intelligent measurement, modeling and processing integration, factory automation and fine logistics, and comprehensive technology.
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