- 中国铁道出版社
- 9787113309398
- 1版
- 559909
- 16开
- 2024-12
- 计算机类
- 高职
内容简介
本书针对职业院校人才培养需求，根据人工智能技术和工业机器人技术的最新发展，依托国家对新职业的规范要求编写而成。全书共分15课，包括机器人的概述、工业机器人技术基础、专业生产工具、岗位安全操作、职业管理法律常识、机械装配准备、机械系统总装、识别系统部件、系统操作与设置、示教与再现、控制工业机器人、工业机器人操作指令、工业机器人系统保养、工业机器人系统维护、常见故障处理等。本书理论与实践并进，结合大量实用易懂的案例进行讲解，重视培养读者的学习方法，可使读者切实理解和掌握工业机器人的相关知识与应用技能。本书适合作为高等职业教育人工智能技术应用专业的教材，也可作为中等职业教育工业机器人技术应用专业的教材，还可供对人工智能相关领域感兴趣的读者阅读参考。
目录
1.1 机器人的发展 .........................................................................1
1.1.1 古代机器人 .......................................................................2
1.1.2 机器马车 ..........................................................................2
1.1.3 达·芬奇的人形机器人 .......................................................3
1.1.4 娱乐机器人 .......................................................................3
1.1.5 家庭机器人 .......................................................................5
1.2 机器人的定义 .........................................................................6
1.3 图灵测试 ................................................................................7
1.4 机器人三原则 .........................................................................8
1.5 机器人的分类 .........................................................................8
1.6 现代机器人 ............................................................................9
1.6.1 机器人的手 .......................................................................9
1.6.2 机器人的眼睛 ..................................................................10
1.6.3 机器识别物体 ..................................................................10
作业 ............................................................................................10
【实训操作】熟悉机器人及其发展 .....................................................12
2.1 工业机器人的历史 ..................................................................13
2.1.1 工业机器人诞生 ...............................................................14
2.1.2 工业机器人创新发展 ........................................................15
2.1.3 太空机器人 .....................................................................16
2.1.4 射波刀机器人 ..................................................................17
2.1.5 国产工业机器人发展 ........................................................17
2.2 工业机器人的特点 ..................................................................18
2.3 工业机器人常用类型...............................................................20
2.4 工业机器人关键技术 ..............................................................20
2.4.1 本体设计技术 ..................................................................21
2.4.2 电机伺服技术 ..................................................................21
2.4.3 控制技术 ........................................................................22
2.5 工业机器人核心应用 ..............................................................23
2.6 工业机器人发展趋势 ..............................................................25
作业 ............................................................................................26
【实训操作】考察工业机器人及其发展 ..............................................28
3.1 电工常用工具及仪表 ...............................................................29
3.1.1 低压验电器 .....................................................................29
3.1.2 电工钳子 ........................................................................30
3.1.3 电烙铁 ............................................................................31
3.1.4 数字万用表 .....................................................................32
3.1.5 钳形表 ............................................................................33
3.1.6 兆欧表 ............................................................................34
3.1.7 其他电工工具 ..................................................................35
3.2 控制柜维护工具 .....................................................................37
3.2.1 热风枪 ............................................................................37
3.2.2 TORX星形螺丝刀 ............................................................38
3.2.3 PZ头螺钉和PH螺钉 .......................................................38
3.3 本体维护工具 ........................................................................38
作业 ............................................................................................40
【实训操作】熟悉并熟练使用专用工具 ..............................................42
4.1 工业机器人安全分析 ..............................................................43
4.1.1 识别危险源 .....................................................................44
4.1.2 风险评价 ........................................................................45
4.2 工业机器人安全问题 ..............................................................45
4.2.1 人员安全 ........................................................................46
4.2.2 系统安全 ........................................................................47
4.2.3 安装及配线安全 ...............................................................47
4.2.4 作业区安全 .....................................................................48
4.2.5 操作与维护安全 ...............................................................49
4.3 工业机器人安全标志 ..............................................................50
4.4 工业机器人安保机制 ..............................................................52
4.4.1 安全操作措施 ..................................................................53
4.4.2 工业机器人停止类别 ........................................................54
4.5 工业机器人作业标准 ..............................................................54
4.5.1 安全规范 ........................................................................55
4.5.2 安全与职业培训 ...............................................................56
4.5.3 国标《工业机器人安全实施规范》 .......................................57
作业 ............................................................................................58
【实训操作】掌握工业机器人岗位安全操作要求 .................................60
5.1 劳动法 ..................................................................................62
5.1.1 促进就业 ........................................................................62
5.1.2 劳动合同.........................................................................63
5.1.3 劳动安全卫生 ..................................................................63
5.1.4 劳动争议 ........................................................................64
5.2 劳动合同法 ...........................................................................64
5.2.1 基本原则 ........................................................................64
5.2.2 订立劳动合同 ..................................................................64
5.2.3 竞业约定 ........................................................................65
5.2.4 劳动合同履行 ..................................................................65
5.3 质量管理方法 ........................................................................66
5.3.1 人的因素 .........................................................................66
5.3.2 机器设备与物料管理 ........................................................66
5.3.3 方法与环境 .....................................................................67
5.4 产品质量法 ...........................................................................67
5.4.1 产品质量监督 ..................................................................68
5.4.2 产品质量责任和义务 ........................................................68
5.4.3 损害赔偿 ........................................................................69
5.5 安全生产法 ...........................................................................69
5.6 环境保护法 ...........................................................................70
5.6.1 保护和改善环境 ...............................................................70
5.6.2 信息公开和公众参与 ........................................................71
5.7 知识产权与专利 .....................................................................71
5.7.1 知识产权的概念 ...............................................................71
5.7.2 专利概念及特点 ...............................................................72
5.7.3 专利的类型 .....................................................................72
作业 ............................................................................................73
【实训操作】熟悉职业生涯法律法规常识 ...........................................75
6.1 装配工艺及要求 .....................................................................77
6.1.1 装配的概念 .....................................................................78
6.1.2 机械装配常用方法 ............................................................79
6.1.3 装配前的准备 ..................................................................79
6.1.4 装配基本规范 ..................................................................80
6.1.5 装配连接方法 ..................................................................81
6.1.6 装配检查 ........................................................................82
6.2 装配及其密封性 .....................................................................82
6.2.1 装配中的密封性 ...............................................................82
6.2.2 轴承的装配 .....................................................................83
6.2.3 电机、减速器的装配 ........................................................84
6.2.4 气动元件的装配 ...............................................................85
6.3 装配系统图绘制及用途 ...........................................................86
6.3.1 装配图的内容 ..................................................................87
6.3.2 装配图编零件序号 ............................................................87
6.3.3 装配图的尺寸 ..................................................................87
6.4 制定装配工艺规程 ..................................................................88
6.4.1 制定装配工艺规程基本原则 ...............................................88
6.4.2 装配工艺规程内容 ............................................................88
6.4.3 装配工艺规程文件的整理与编写 ........................................89
6.5 机械装配的工具与工装夹具 .....................................................89
6.5.1 不同装配工艺使用的工具 ..................................................89
6.5.2 夹具选择与工件装夹方法 ..................................................90
作业 ............................................................................................91
【实训操作】熟悉机械装配准备作业 .................................................93
7.1 机械臂基本结构 .....................................................................94
7.2 工业机器人技术参数 ..............................................................95
7.2.1 自由度 ............................................................................95
7.2.2 重复定位精度 ..................................................................96
7.2.3 工作范围 .......................................................................96
7.2.4 最大工作速度 ..................................................................97
7.2.5 承载能力 ........................................................................97
7.3 产品确认 ...............................................................................97
7.4 安装场所与位置 .....................................................................99
7.4.1 安装场所和环境 ...............................................................99
7.4.2 安装位置 ........................................................................99
7.5 设备功能检查 ......................................................................100
7.5.1 基本动作确认 ................................................................101
7.5.2 设备功能调整 ................................................................101
7.6 末端执行器分类与应用 .........................................................102
7.6.1 末端执行器的特点 ..........................................................102
7.6.2 末端执行器的分类 ..........................................................103
7.6.3 快换与夹爪执行器 ..........................................................104
7.7 液压系统及其安装 ................................................................104
7.7.1 安装前的准备工作 ..........................................................104
7.7.2 液压元件安装 ................................................................104
7.7.3 管路安装 ......................................................................105
7.7.4 清洗 .............................................................................105
作业 ..........................................................................................105
【实训操作】熟悉机械系统总装作业 ...............................................107
8.1 工业机器人基本组成 ............................................................110
8.1.1 机械结构系统 ................................................................111
8.1.2 驱动系统 ......................................................................111
8.1.3 感知系统 ......................................................................112
8.1.4 机器人-环境交互系统 ....................................................112
8.1.5 人机交互系统 ................................................................113
8.1.6 控制系统 ......................................................................113
8.2 控制器 ................................................................................113
8.2.1 电源单元 ......................................................................115
8.2.2 控制单元 ......................................................................115
8.3 伺服驱动单元 ......................................................................116
8.4 输入/输出单元 ...................................................................118
8.4.1 耦合器 ..........................................................................118
8.4.2 数字输入/输出 .............................................................118
8.4.3 I/O从站的安装与组网 ....................................................118
8.5 示教器 ................................................................................120
8.5.1 示教器的特点 ................................................................121
8.5.2 按键 .............................................................................122
8.5.3 显示 .............................................................................123
8.5.4 模式开关 ......................................................................124
8.5.5 急停按钮与伺服使能开关 ................................................125
8.6 周边设备.............................................................................125
作业 ..........................................................................................126
【实训操作】熟悉工业机器人系统部件 ............................................127
9.1 控制系统 .............................................................................129
9.1.1 控制器 ..........................................................................130
9.1.2 机器人操作系统 .............................................................130
9.1.3 功能安全系统 ................................................................131
9.2 驱动系统 .............................................................................131
9.2.1 液压驱动系统 ................................................................131
9.2.2 气动驱动系统 ................................................................132
9.2.3 电动驱动系统 ................................................................133
9.3 配线与连接 .........................................................................134
9.3.1 配线注意事项 ................................................................134
9.3.2 电缆连接注意事项 ..........................................................134
9.3.3 供电电源 ......................................................................135
9.3.4 连接方法 ......................................................................135
9.4 电源接通与切断 ...................................................................136
9.4.1 接通主电源 ...................................................................136
9.4.2 接通伺服电源 ................................................................136
9.4.3 切断电源 ......................................................................136
9.5 电气功能检查与调整.............................................................137
9.5.1 外观检查 ......................................................................137
9.5.2 线路检查 ......................................................................137
9.5.3 绝缘检查 ......................................................................137
9.5.4 控制单元调试 ................................................................138
9.5.5 操作控制电路调试 ..........................................................138
作业 ..........................................................................................138
【实训操作】熟练系统操作与设置 ...................................................140
10.1 机器人的坐标系 .................................................................141
10.1.1 关节坐标系 .................................................................141
10.1.2 直角坐标系 .................................................................142
10.1.3 用户坐标系 .................................................................143
10.2 坐标系的标定 ....................................................................143
10.3 示教 .................................................................................146
10.3.1 在线示教与离线示教 .....................................................146
10.3.2 示教的基本步骤 ...........................................................147
10.3.3 轨迹的确认 .................................................................150
10.4 程序修改 ...........................................................................151
10.5 再现 .................................................................................152
10.5.1 再现步骤 .....................................................................152
10.5.2 停止与再启动 ..............................................................152
10.5.3 修改再现速度 ..............................................................153
作业 ..........................................................................................153
【实训操作】工业机器人的示教与再现作业 ......................................155
11.1 工程管理 ...........................................................................156
11.1.1 工程或程序的操作 ........................................................156
11.1.2 自启动程序 ..................................................................158
11.1.3 工程导入/导出 ............................................................158
11.1.4 查找工程/程序 ............................................................159
11.2 程序编辑 ...........................................................................160
11.2.1 新增指令 .....................................................................160
11.2.2 撤销指令 .....................................................................162
11.2.3 其他操作 .....................................................................162
11.3 数据与变量........................................................................165
11.3.1 数据类型 .....................................................................166
11.3.2 新增变量 .....................................................................167
11.3.3 其他操作 .....................................................................168
11.4 I/O检测 ............................................................................169
11.4.1 物理I/O ......................................................................169
11.4.2 虚拟I/O ......................................................................170
11.4.3 系统I/O ......................................................................171
11.5 位置管理 ...........................................................................171
11.5.1 坐标管理 .....................................................................172
11.5.2 寸动设置 .....................................................................172
11.6 系统设置 ...........................................................................172
11.6.1 报警 ...........................................................................172
11.6.2 用户管理 .....................................................................173
11.6.3 通用设置 .....................................................................174
11.6.4 本地设置 .....................................................................175
作业 ..........................................................................................176
【实训操作】操作控制工业机器人 ...................................................177
12.1 操作指令概述 ....................................................................179
12.2 运动指令 ...........................................................................180
12.2.1 常用的运动指令 ...........................................................180
12.2.2 运动路径规划 ..............................................................181
12.2.3 关节运动指令MovJ......................................................183
12.2.4 直线运动指令MovL .....................................................183
12.2.5 圆弧运动指令MovC .....................................................184
12.2.6 整圆指令MovCircle ....................................................184
12.3 控制指令 ...........................................................................184
12.4 等待指令 ...........................................................................186
12.5 I/O指令 ............................................................................188
12.6 传送带跟随指令 .................................................................188
12.7 视觉指令 ...........................................................................190
12.8 码垛指令 ...........................................................................190
12.8.1 码垛重置指令 ..............................................................191
12.8.2 放置工件指令 ..............................................................191
12.8.3 从放置位离开指令 ........................................................192
12.8.4 抓取工件动作指令 ........................................................193
12.8.5 抓取后离开指令 ...........................................................193
作业 ..........................................................................................194
【实训操作】熟悉工业机器人操作指令 ............................................196
13.1 工业机器人维护分析 ...........................................................197
13.1.1 不同维护方式 ..............................................................198
13.1.2 基本保养内容 ..............................................................198
13.2 更换电池与润滑油 ..............................................................199
13.2.1 更换本体电池 ..............................................................199
13.2.2 更换控制器电池 ...........................................................199
13.2.3 更换润滑油 .................................................................199
13.3 本体保养 ...........................................................................200
13.3.1 本体日常保养 ..............................................................200
13.3.2 本体清洁保养 ..............................................................201
13.3.3 检查本体基础 ..............................................................201
13.3.4 轴制动测试 .................................................................202
13.3.5 润滑齿轮与检查油位 .....................................................203
13.4 控制柜保养 .......................................................................203
13.4.1 制订保养计划 ..............................................................203
13.4.2 日常点检维护操作 ........................................................205
13.4.3 定期点检维护操作 ........................................................206
13.4.4 检查控制器散热 ...........................................................207
13.4.5 清洁控制器内部 ...........................................................207
13.5 周边设备保养 ....................................................................208
作业 ..........................................................................................209
【实训操作】熟悉工业机器人系统保养作业 ......................................211
14.1 工业机器人本体运维 ...........................................................213
14.1.1 检查本体和六轴工具端固定情况 .....................................213
14.1.2 检查密封状态 ..............................................................214
14.1.3 检查各轴限位挡块 ........................................................214
14.1.4 检查电机抱闸和制动状态 ..............................................215
14.1.5 检查电机噪声 ..............................................................215
14.2 控制器运维 .......................................................................215
14.2.1 检查控制器连接状态 .....................................................216
14.2.2 检测电气元件接通及安全状况 ........................................217
14.2.3 安全使用示教器功能 .....................................................218
14.2.4 在机械臂工作范围内工作 ..............................................218
14.2.5 控制器程序更新与还原 .................................................218
14.2.6 备份导出 .....................................................................220
14.2.7 工程导入 .....................................................................221
14.3 示教器升级与备份 ..............................................................221
14.4 回零功能 ...........................................................................224
14.4.1 零位校准 .....................................................................224
14.4.2 整体回零 .....................................................................225
14.4.3 单轴回零 .....................................................................225
作业 ..........................................................................................227
【实训操作】熟悉工业机器人运行维护作业 ......................................229
15.1 故障诊断分析 ....................................................................230
15.2 按症状排除故障 .................................................................231
15.2.1 启动故障与引导 ...........................................................231
15.2.2 控制器症状故障 ...........................................................232
15.2.3 示教器症状故障 ...........................................................234
15.2.4 硬件故障 .....................................................................235
15.2.5 间歇性错误 .................................................................238
15.3 按功能单元排除故障 ...........................................................238
15.3.1 排除示教器故障 ...........................................................239
15.3.2 排除计算机故障 ...........................................................239
15.3.3 排查安全面板故障 ........................................................241
15.3.4 排除驱动系统故障 ........................................................242
15.3.5 排除配电故障 ..............................................................242
15.4 按事件日志排除故障 ...........................................................244
作业 ..........................................................................................245
【实训操作】典型故障描述与分析处理 ............................................247
附录 作业参考答案 .............................................................................249
参考文献 ...............................................................................................252
1.1.1 古代机器人 .......................................................................2
1.1.2 机器马车 ..........................................................................2
1.1.3 达·芬奇的人形机器人 .......................................................3
1.1.4 娱乐机器人 .......................................................................3
1.1.5 家庭机器人 .......................................................................5
1.2 机器人的定义 .........................................................................6
1.3 图灵测试 ................................................................................7
1.4 机器人三原则 .........................................................................8
1.5 机器人的分类 .........................................................................8
1.6 现代机器人 ............................................................................9
1.6.1 机器人的手 .......................................................................9
1.6.2 机器人的眼睛 ..................................................................10
1.6.3 机器识别物体 ..................................................................10
作业 ............................................................................................10
【实训操作】熟悉机器人及其发展 .....................................................12
2.1 工业机器人的历史 ..................................................................13
2.1.1 工业机器人诞生 ...............................................................14
2.1.2 工业机器人创新发展 ........................................................15
2.1.3 太空机器人 .....................................................................16
2.1.4 射波刀机器人 ..................................................................17
2.1.5 国产工业机器人发展 ........................................................17
2.2 工业机器人的特点 ..................................................................18
2.3 工业机器人常用类型...............................................................20
2.4 工业机器人关键技术 ..............................................................20
2.4.1 本体设计技术 ..................................................................21
2.4.2 电机伺服技术 ..................................................................21
2.4.3 控制技术 ........................................................................22
2.5 工业机器人核心应用 ..............................................................23
2.6 工业机器人发展趋势 ..............................................................25
作业 ............................................................................................26
【实训操作】考察工业机器人及其发展 ..............................................28
3.1 电工常用工具及仪表 ...............................................................29
3.1.1 低压验电器 .....................................................................29
3.1.2 电工钳子 ........................................................................30
3.1.3 电烙铁 ............................................................................31
3.1.4 数字万用表 .....................................................................32
3.1.5 钳形表 ............................................................................33
3.1.6 兆欧表 ............................................................................34
3.1.7 其他电工工具 ..................................................................35
3.2 控制柜维护工具 .....................................................................37
3.2.1 热风枪 ............................................................................37
3.2.2 TORX星形螺丝刀 ............................................................38
3.2.3 PZ头螺钉和PH螺钉 .......................................................38
3.3 本体维护工具 ........................................................................38
作业 ............................................................................................40
【实训操作】熟悉并熟练使用专用工具 ..............................................42
4.1 工业机器人安全分析 ..............................................................43
4.1.1 识别危险源 .....................................................................44
4.1.2 风险评价 ........................................................................45
4.2 工业机器人安全问题 ..............................................................45
4.2.1 人员安全 ........................................................................46
4.2.2 系统安全 ........................................................................47
4.2.3 安装及配线安全 ...............................................................47
4.2.4 作业区安全 .....................................................................48
4.2.5 操作与维护安全 ...............................................................49
4.3 工业机器人安全标志 ..............................................................50
4.4 工业机器人安保机制 ..............................................................52
4.4.1 安全操作措施 ..................................................................53
4.4.2 工业机器人停止类别 ........................................................54
4.5 工业机器人作业标准 ..............................................................54
4.5.1 安全规范 ........................................................................55
4.5.2 安全与职业培训 ...............................................................56
4.5.3 国标《工业机器人安全实施规范》 .......................................57
作业 ............................................................................................58
【实训操作】掌握工业机器人岗位安全操作要求 .................................60
5.1 劳动法 ..................................................................................62
5.1.1 促进就业 ........................................................................62
5.1.2 劳动合同.........................................................................63
5.1.3 劳动安全卫生 ..................................................................63
5.1.4 劳动争议 ........................................................................64
5.2 劳动合同法 ...........................................................................64
5.2.1 基本原则 ........................................................................64
5.2.2 订立劳动合同 ..................................................................64
5.2.3 竞业约定 ........................................................................65
5.2.4 劳动合同履行 ..................................................................65
5.3 质量管理方法 ........................................................................66
5.3.1 人的因素 .........................................................................66
5.3.2 机器设备与物料管理 ........................................................66
5.3.3 方法与环境 .....................................................................67
5.4 产品质量法 ...........................................................................67
5.4.1 产品质量监督 ..................................................................68
5.4.2 产品质量责任和义务 ........................................................68
5.4.3 损害赔偿 ........................................................................69
5.5 安全生产法 ...........................................................................69
5.6 环境保护法 ...........................................................................70
5.6.1 保护和改善环境 ...............................................................70
5.6.2 信息公开和公众参与 ........................................................71
5.7 知识产权与专利 .....................................................................71
5.7.1 知识产权的概念 ...............................................................71
5.7.2 专利概念及特点 ...............................................................72
5.7.3 专利的类型 .....................................................................72
作业 ............................................................................................73
【实训操作】熟悉职业生涯法律法规常识 ...........................................75
6.1 装配工艺及要求 .....................................................................77
6.1.1 装配的概念 .....................................................................78
6.1.2 机械装配常用方法 ............................................................79
6.1.3 装配前的准备 ..................................................................79
6.1.4 装配基本规范 ..................................................................80
6.1.5 装配连接方法 ..................................................................81
6.1.6 装配检查 ........................................................................82
6.2 装配及其密封性 .....................................................................82
6.2.1 装配中的密封性 ...............................................................82
6.2.2 轴承的装配 .....................................................................83
6.2.3 电机、减速器的装配 ........................................................84
6.2.4 气动元件的装配 ...............................................................85
6.3 装配系统图绘制及用途 ...........................................................86
6.3.1 装配图的内容 ..................................................................87
6.3.2 装配图编零件序号 ............................................................87
6.3.3 装配图的尺寸 ..................................................................87
6.4 制定装配工艺规程 ..................................................................88
6.4.1 制定装配工艺规程基本原则 ...............................................88
6.4.2 装配工艺规程内容 ............................................................88
6.4.3 装配工艺规程文件的整理与编写 ........................................89
6.5 机械装配的工具与工装夹具 .....................................................89
6.5.1 不同装配工艺使用的工具 ..................................................89
6.5.2 夹具选择与工件装夹方法 ..................................................90
作业 ............................................................................................91
【实训操作】熟悉机械装配准备作业 .................................................93
7.1 机械臂基本结构 .....................................................................94
7.2 工业机器人技术参数 ..............................................................95
7.2.1 自由度 ............................................................................95
7.2.2 重复定位精度 ..................................................................96
7.2.3 工作范围 .......................................................................96
7.2.4 最大工作速度 ..................................................................97
7.2.5 承载能力 ........................................................................97
7.3 产品确认 ...............................................................................97
7.4 安装场所与位置 .....................................................................99
7.4.1 安装场所和环境 ...............................................................99
7.4.2 安装位置 ........................................................................99
7.5 设备功能检查 ......................................................................100
7.5.1 基本动作确认 ................................................................101
7.5.2 设备功能调整 ................................................................101
7.6 末端执行器分类与应用 .........................................................102
7.6.1 末端执行器的特点 ..........................................................102
7.6.2 末端执行器的分类 ..........................................................103
7.6.3 快换与夹爪执行器 ..........................................................104
7.7 液压系统及其安装 ................................................................104
7.7.1 安装前的准备工作 ..........................................................104
7.7.2 液压元件安装 ................................................................104
7.7.3 管路安装 ......................................................................105
7.7.4 清洗 .............................................................................105
作业 ..........................................................................................105
【实训操作】熟悉机械系统总装作业 ...............................................107
8.1 工业机器人基本组成 ............................................................110
8.1.1 机械结构系统 ................................................................111
8.1.2 驱动系统 ......................................................................111
8.1.3 感知系统 ......................................................................112
8.1.4 机器人-环境交互系统 ....................................................112
8.1.5 人机交互系统 ................................................................113
8.1.6 控制系统 ......................................................................113
8.2 控制器 ................................................................................113
8.2.1 电源单元 ......................................................................115
8.2.2 控制单元 ......................................................................115
8.3 伺服驱动单元 ......................................................................116
8.4 输入/输出单元 ...................................................................118
8.4.1 耦合器 ..........................................................................118
8.4.2 数字输入/输出 .............................................................118
8.4.3 I/O从站的安装与组网 ....................................................118
8.5 示教器 ................................................................................120
8.5.1 示教器的特点 ................................................................121
8.5.2 按键 .............................................................................122
8.5.3 显示 .............................................................................123
8.5.4 模式开关 ......................................................................124
8.5.5 急停按钮与伺服使能开关 ................................................125
8.6 周边设备.............................................................................125
作业 ..........................................................................................126
【实训操作】熟悉工业机器人系统部件 ............................................127
9.1 控制系统 .............................................................................129
9.1.1 控制器 ..........................................................................130
9.1.2 机器人操作系统 .............................................................130
9.1.3 功能安全系统 ................................................................131
9.2 驱动系统 .............................................................................131
9.2.1 液压驱动系统 ................................................................131
9.2.2 气动驱动系统 ................................................................132
9.2.3 电动驱动系统 ................................................................133
9.3 配线与连接 .........................................................................134
9.3.1 配线注意事项 ................................................................134
9.3.2 电缆连接注意事项 ..........................................................134
9.3.3 供电电源 ......................................................................135
9.3.4 连接方法 ......................................................................135
9.4 电源接通与切断 ...................................................................136
9.4.1 接通主电源 ...................................................................136
9.4.2 接通伺服电源 ................................................................136
9.4.3 切断电源 ......................................................................136
9.5 电气功能检查与调整.............................................................137
9.5.1 外观检查 ......................................................................137
9.5.2 线路检查 ......................................................................137
9.5.3 绝缘检查 ......................................................................137
9.5.4 控制单元调试 ................................................................138
9.5.5 操作控制电路调试 ..........................................................138
作业 ..........................................................................................138
【实训操作】熟练系统操作与设置 ...................................................140
10.1 机器人的坐标系 .................................................................141
10.1.1 关节坐标系 .................................................................141
10.1.2 直角坐标系 .................................................................142
10.1.3 用户坐标系 .................................................................143
10.2 坐标系的标定 ....................................................................143
10.3 示教 .................................................................................146
10.3.1 在线示教与离线示教 .....................................................146
10.3.2 示教的基本步骤 ...........................................................147
10.3.3 轨迹的确认 .................................................................150
10.4 程序修改 ...........................................................................151
10.5 再现 .................................................................................152
10.5.1 再现步骤 .....................................................................152
10.5.2 停止与再启动 ..............................................................152
10.5.3 修改再现速度 ..............................................................153
作业 ..........................................................................................153
【实训操作】工业机器人的示教与再现作业 ......................................155
11.1 工程管理 ...........................................................................156
11.1.1 工程或程序的操作 ........................................................156
11.1.2 自启动程序 ..................................................................158
11.1.3 工程导入/导出 ............................................................158
11.1.4 查找工程/程序 ............................................................159
11.2 程序编辑 ...........................................................................160
11.2.1 新增指令 .....................................................................160
11.2.2 撤销指令 .....................................................................162
11.2.3 其他操作 .....................................................................162
11.3 数据与变量........................................................................165
11.3.1 数据类型 .....................................................................166
11.3.2 新增变量 .....................................................................167
11.3.3 其他操作 .....................................................................168
11.4 I/O检测 ............................................................................169
11.4.1 物理I/O ......................................................................169
11.4.2 虚拟I/O ......................................................................170
11.4.3 系统I/O ......................................................................171
11.5 位置管理 ...........................................................................171
11.5.1 坐标管理 .....................................................................172
11.5.2 寸动设置 .....................................................................172
11.6 系统设置 ...........................................................................172
11.6.1 报警 ...........................................................................172
11.6.2 用户管理 .....................................................................173
11.6.3 通用设置 .....................................................................174
11.6.4 本地设置 .....................................................................175
作业 ..........................................................................................176
【实训操作】操作控制工业机器人 ...................................................177
12.1 操作指令概述 ....................................................................179
12.2 运动指令 ...........................................................................180
12.2.1 常用的运动指令 ...........................................................180
12.2.2 运动路径规划 ..............................................................181
12.2.3 关节运动指令MovJ......................................................183
12.2.4 直线运动指令MovL .....................................................183
12.2.5 圆弧运动指令MovC .....................................................184
12.2.6 整圆指令MovCircle ....................................................184
12.3 控制指令 ...........................................................................184
12.4 等待指令 ...........................................................................186
12.5 I/O指令 ............................................................................188
12.6 传送带跟随指令 .................................................................188
12.7 视觉指令 ...........................................................................190
12.8 码垛指令 ...........................................................................190
12.8.1 码垛重置指令 ..............................................................191
12.8.2 放置工件指令 ..............................................................191
12.8.3 从放置位离开指令 ........................................................192
12.8.4 抓取工件动作指令 ........................................................193
12.8.5 抓取后离开指令 ...........................................................193
作业 ..........................................................................................194
【实训操作】熟悉工业机器人操作指令 ............................................196
13.1 工业机器人维护分析 ...........................................................197
13.1.1 不同维护方式 ..............................................................198
13.1.2 基本保养内容 ..............................................................198
13.2 更换电池与润滑油 ..............................................................199
13.2.1 更换本体电池 ..............................................................199
13.2.2 更换控制器电池 ...........................................................199
13.2.3 更换润滑油 .................................................................199
13.3 本体保养 ...........................................................................200
13.3.1 本体日常保养 ..............................................................200
13.3.2 本体清洁保养 ..............................................................201
13.3.3 检查本体基础 ..............................................................201
13.3.4 轴制动测试 .................................................................202
13.3.5 润滑齿轮与检查油位 .....................................................203
13.4 控制柜保养 .......................................................................203
13.4.1 制订保养计划 ..............................................................203
13.4.2 日常点检维护操作 ........................................................205
13.4.3 定期点检维护操作 ........................................................206
13.4.4 检查控制器散热 ...........................................................207
13.4.5 清洁控制器内部 ...........................................................207
13.5 周边设备保养 ....................................................................208
作业 ..........................................................................................209
【实训操作】熟悉工业机器人系统保养作业 ......................................211
14.1 工业机器人本体运维 ...........................................................213
14.1.1 检查本体和六轴工具端固定情况 .....................................213
14.1.2 检查密封状态 ..............................................................214
14.1.3 检查各轴限位挡块 ........................................................214
14.1.4 检查电机抱闸和制动状态 ..............................................215
14.1.5 检查电机噪声 ..............................................................215
14.2 控制器运维 .......................................................................215
14.2.1 检查控制器连接状态 .....................................................216
14.2.2 检测电气元件接通及安全状况 ........................................217
14.2.3 安全使用示教器功能 .....................................................218
14.2.4 在机械臂工作范围内工作 ..............................................218
14.2.5 控制器程序更新与还原 .................................................218
14.2.6 备份导出 .....................................................................220
14.2.7 工程导入 .....................................................................221
14.3 示教器升级与备份 ..............................................................221
14.4 回零功能 ...........................................................................224
14.4.1 零位校准 .....................................................................224
14.4.2 整体回零 .....................................................................225
14.4.3 单轴回零 .....................................................................225
作业 ..........................................................................................227
【实训操作】熟悉工业机器人运行维护作业 ......................................229
15.1 故障诊断分析 ....................................................................230
15.2 按症状排除故障 .................................................................231
15.2.1 启动故障与引导 ...........................................................231
15.2.2 控制器症状故障 ...........................................................232
15.2.3 示教器症状故障 ...........................................................234
15.2.4 硬件故障 .....................................................................235
15.2.5 间歇性错误 .................................................................238
15.3 按功能单元排除故障 ...........................................................238
15.3.1 排除示教器故障 ...........................................................239
15.3.2 排除计算机故障 ...........................................................239
15.3.3 排查安全面板故障 ........................................................241
15.3.4 排除驱动系统故障 ........................................................242
15.3.5 排除配电故障 ..............................................................242
15.4 按事件日志排除故障 ...........................................................244
作业 ..........................................................................................245
【实训操作】典型故障描述与分析处理 ............................................247
附录 作业参考答案 .............................................................................249
参考文献 ...............................................................................................252
