目前，國(guó)際上從應(yīng)用環(huán)境出發(fā)將機(jī)器人分為兩類：制造環(huán)境下的工業(yè)機(jī)器人和非制造環(huán)境下的服務(wù)與仿人型機(jī)器人。我國(guó)的機(jī)器人從應(yīng)用環(huán)境出發(fā)，將機(jī)器人也分為兩大類，即工業(yè)機(jī)器人和特種機(jī)器人。這和國(guó)際上的分類是一致的。

Currently, internationally, robots are divided into two categories based on their application environment: industrial robots in manufacturing environments and service and humanoid robots in non manufacturing environments. Our country's robotics experts classify robots into two categories based on their application environment, namely industrial robots and special robots. This is consistent with the international classification.

　　工業(yè)機(jī)器人是指面向工業(yè)領(lǐng)域的多關(guān)節(jié)機(jī)械手或多自由度機(jī)器人。特種機(jī)器人則是除工業(yè)機(jī)器人之外的、用于非制造業(yè)并服務(wù)于人類的各種機(jī)器人，包括：服務(wù)機(jī)器人、水下機(jī)器人、娛樂機(jī)器人、軍用機(jī)器人、農(nóng)業(yè)機(jī)器人等。在特種機(jī)器人中，有些分支發(fā)展很快，有獨(dú)立成體系的趨勢(shì)，如服務(wù)機(jī)器人、水下機(jī)器人、軍用機(jī)器人、微操作機(jī)器人等。

Industrial robots refer to multi joint robotic arms or multi degree of freedom robots aimed at the industrial field. Special robots refer to various advanced robots used in non manufacturing industries and serving humans, in addition to industrial robots, including service robots, underwater robots, entertainment robots, military robots, agricultural robots, etc. In the field of special robots, some branches are developing rapidly and there is a trend towards independent systems, such as service robots, underwater robots, military robots, micro operation robots, etc.

　　1、工業(yè)機(jī)器人按臂部的運(yùn)動(dòng)形式分為四種。

1. Industrial robots are divided into four types based on the movement form of their arms.

　　直角坐標(biāo)型的臂部可沿三個(gè)直角坐標(biāo)移動(dòng)；圓柱坐標(biāo)型的臂部可作升降、回轉(zhuǎn)和伸縮動(dòng)作；球坐標(biāo)型的臂部能回轉(zhuǎn)、俯仰和伸縮；關(guān)節(jié)型的臂部有多個(gè)轉(zhuǎn)動(dòng)關(guān)節(jié)。

The arm in Cartesian coordinates can move along three Cartesian coordinates; The cylindrical coordinate arm can perform lifting, rotating, and telescopic actions; The spherical coordinate arm can rotate, pitch, and retract; The articulated arm has multiple rotational joints.

　　2、工業(yè)機(jī)器人按執(zhí)行機(jī)構(gòu)運(yùn)動(dòng)的控制機(jī)能，又可分點(diǎn)位型和連續(xù)軌跡型。

2. Industrial robots have control functions based on the motion of the executing mechanism, and can be divided into point position type and continuous trajectory type.

　　點(diǎn)位型只控制執(zhí)行機(jī)構(gòu)由一點(diǎn)到另一點(diǎn)的準(zhǔn)確定位，適用于機(jī)床上下料、點(diǎn)焊和一般搬運(yùn)、裝卸等作業(yè)；連續(xù)軌跡型可控制執(zhí)行機(jī)構(gòu)按給定軌跡運(yùn)動(dòng)，適用于連續(xù)焊接和涂裝等作業(yè)。

The point type only controls the accurate positioning of the actuator from one point to another, and is suitable for machine tool loading and unloading, spot welding, and general handling, loading and unloading operations; Continuous trajectory type can control the actuator to move according to the given trajectory, suitable for continuous welding and painting operations.

　　3、工業(yè)機(jī)器人按程序輸入方式區(qū)分有編程輸入型和示教輸入型兩類。

3. Industrial robots can be classified into two types based on program input methods: programming input type and teaching input type.

　　編程輸入型是將計(jì)算機(jī)上已編好的作業(yè)程序文件，通過RS-232串口或者以太網(wǎng)等通信方式傳送到機(jī)器人控制柜。

Programming input type is to transmit the pre programmed job program files on the computer to the robot control cabinet through communication methods such as RS-232 serial port or Ethernet.

　　示教輸入型的示教方法有兩種：一種是由操作者用手動(dòng)控制器（示教操縱盒），將指令信號(hào)傳給驅(qū)動(dòng)系統(tǒng)，使執(zhí)行機(jī)構(gòu)按要求的動(dòng)作順序和運(yùn)動(dòng)軌跡操演一遍；另一種是由操作者直接領(lǐng)動(dòng)執(zhí)行機(jī)構(gòu)，按要求的動(dòng)作順序和運(yùn)動(dòng)軌跡操演一遍。

There are two types of demonstration input teaching methods: one is that the operator uses a manual controller (demonstration control box) to transmit command signals to the driving system, so that the executing mechanism can perform the required action sequence and motion trajectory once; Another approach is for the operator to directly lead the execution mechanism and perform it once according to the required sequence of actions and motion trajectory.

　　在示教過程的同時(shí)，工作程序的信息即自動(dòng)存入程序存儲(chǔ)器中在機(jī)器人自動(dòng)工作時(shí)，控制系統(tǒng)從程序存儲(chǔ)器中檢出相應(yīng)信息，將指令信號(hào)傳給驅(qū)動(dòng)機(jī)構(gòu)，使執(zhí)行機(jī)構(gòu)再現(xiàn)示教的各種動(dòng)作。示教輸入程序的工業(yè)機(jī)器人稱為示教再現(xiàn)型工業(yè)機(jī)器人

During the teaching process, the information of the working program is automatically stored in the program memory. When the robot operates automatically, the control system detects the corresponding information from the program memory and transmits the instruction signal to the driving mechanism, allowing the executing mechanism to reproduce various actions of the teaching. Industrial robots that teach input programs are called teaching reproduction industrial robots

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