1

Robot Cng nghip

Chng I
Gii thiu chung v robot cng nghip
1.1. S lt qu trnh pht trin ca robot cng nghip (IR : Industrial Robot) :
Thut ng Robot xut pht t ting Sec (Czech) Robota c ngha l cng vic tp
dch trong v kch Rossums Universal Robots ca Karel Capek, vo nm 1921. Trong v kch
ny, Rossum v con trai ca ng ta ch to ra nhng chic my gn ging vi con ngi
phc v con ngi. C l l mt gi ban u cho cc nh sng ch k thut v nhng c
cu, my mc bt chc cc hot ng c bp ca con ngi.
u thp k 60, cng ty M AMF (American Machine and Foundry Company) qung
co mt loi my t ng vn nng v gi l Ngi my cng nghip (Industrial Robot).
Ngy nay ngi ta t tn ngi my cng nghip (hay robot cng nghip) cho nhng loi thit
b c dng dp v mt vi chc nng nh tay ngi c iu khin t ng thc hin mt s
thao tc sn xut.
V mt k thut, nhng robot cng nghip ngy nay, c ngun gc t hai lnh vc k
thut ra i sm hn l cc c cu iu khin t xa (Teleoperators) v cc my cng c iu
khin s (NC - Numerically Controlled machine tool).
Cc c cu iu khin t xa (hay cc thit b kiu ch-t) pht trin mnh trong chin
tranh th gii ln th hai nhm nghin cu cc vt liu phng x. Ngi thao tc c tch bit
khi khu vc phng x bi mt bc tng c mt hoc vi ca quan st c th nhn thy
c cng vic bn trong. Cc c cu iu khin t xa thay th cho cnh tay ca ngi thao tc;
n gm c mt b kp bn trong (t) v hai tay cm bn ngoi (ch). C hai, tay cm v b
kp, c ni vi nhau bng mt c cu su bc t do to ra cc v tr v hng tu ca tay
cm v b kp. C cu dng iu khin b kp theo chuyn ng ca tay cm.
Vo khong nm 1949, cc my cng c iu khin s ra i, nhm p ng yu cu
gia cng cc chi tit trong ngnh ch to my bay. Nhng robot u tin thc cht l s ni kt
gia cc khu c kh ca c cu iu khin t xa vi kh nng lp trnh ca my cng c iu
khin s.
Di y chng ta s im qua mt s thi im lch s pht trin ca ngi my cng
nghip. Mt trong nhng robot cng nghip u tin c ch to l robot Versatran ca cng
ty AMF, M. Cng vo khong thi gian ny M xut hin loi robot Unimate -1900 c
dng u tin trong k ngh t.
Tip theo M, cc nc khc bt u sn xut robot cng nghip : Anh -1967, Thu
in v Nht -1968 theo bn quyn ca M; CHLB c -1971; Php - 1972; - 1973. . .
Tnh nng lm vic ca robot ngy cng c nng cao, nht l kh nng nhn bit v
x l. Nm 1967 trng i hc tng hp Stanford (M) ch to ra mu robot hot ng
theo m hnh mt-tay, c kh nng nhn bit v nh hng bn kp theo v tr vt kp nh
cc cm bin. Nm 1974 Cng ty M Cincinnati a ra loi robot c iu khin bng my vi
tnh, gi l robot T3 (The Tomorrow Tool : Cng c ca tng lai). Robot ny c th nng c
vt c khi lng n 40 KG.
C th ni, Robot l s t hp kh nng hot ng linh hot ca cc c cu iu khin t
xa vi mc tri thc ngy cng phong ph ca h thng iu khin theo chng trnh s
cng nh k thut ch to cc b cm bin, cng ngh lp trnh v cc pht trin ca tr khn
nhn to, h chuyn gia ...
Trong nhng nm sau ny, vic nng cao tnh nng hot ng ca robot khng ngng
pht trin. Cc robot c trang b thm cc loi cm bin khc nhau nhn bit mi trng

TS. Phm ng Phc

Robot Cng nghip

chung quanh, cng vi nhng thnh tu to ln trong lnh vc Tin hc - in t to ra cc

th h robot vi nhiu tnh nng c bit, S lng robot ngy cng gia tng, gi thnh ngy
cng gim. Nh vy, robot cng nghip c v tr quan trng trong cc dy chuyn sn xut
hin i.
Mt vi s liu v s lng robot c sn xut mt vi nc cng nghip pht trin
nh sau :
(Bng I.1)
Nc SX
Nm 1990
Nm 1994
Nm 1998
(D tnh)
Nht
60.118
29.756
67.000
M
4.327
7.634
11.100
c
5.845
5.125
8.600
2.500
2.408
4.000

1.488
1.197
2.000
Php
Anh
510
1.086
1.500
Hn quc
1.000
1.200
M l nc u tin pht minh ra robot, nhng nc pht trin cao nht trong lnh vc
nghin cu ch to v s dng robot li l Nht.
1.2. ng dng robot cng nghip trong sn xut :
T khi mi ra i robot cng nghip c p dng trong nhiu lnh vc di gc
thay th sc ngi. Nh vy cc dy chuyn sn xut c t chc li, nng sut v hiu qu
sn xut tng ln r rt.
Mc tiu ng dng robot cng nghip nhm gp phn nng cao nng sut dy chuyn
cng ngh, gim gi thnh, nng cao cht lng v kh nng cnh tranh ca sn phm ng
thi ci thin iu kin lao ng. t c cc mc tiu trn l nh vo nhng kh nng to ln
ca robot nh : lm vic khng bit mt mi, rt d dng chuyn ngh mt cch thnh tho,
chu c phng x v cc mi trng lm vic c hi, nhit cao, cm thy c c t
trng v nghe c c siu m ... Robot c dng thay th con ngi trong cc trng hp
trn hoc thc hin cc cng vic tuy khng nng nhc nhng n iu, d gy mt mi, nhm
ln.
Trong ngnh c kh, robot c s dng nhiu trong cng ngh c, cng ngh hn, ct
kim loi, sn, phun ph kim loi, tho lp vn chuyn phi, lp rp sn phm . . .
Ngy nay xut hin nhiu dy chuyn sn xut t ng gm cc my CNC vi
Robot cng nghip, cc dy chuyn t mc t ng ho cao, mc linh hot cao . . .
y cc my v robot c iu khin bng cng mt h thng chng trnh.
Ngoi cc phn xng, nh my, k thut robot cng c s dng trong vic khai thc
thm lc a v i dng, trong y hc, s dng trong quc phng, trong chinh phc v tr,
trong cng nghip nguyn t, trong cc lnh vc x hi . . .
R rng l kh nng lm vic ca robot trong mt s iu kin vt hn kh nng ca
con ngi; do n l phng tin hu hiu t ng ho, nng cao nng sut lao ng,
gim nh cho con ngi nhng cng vic nng nhc v c hi. Nhc im ln nht ca
robot l cha linh hot nh con ngi, trong dy chuyn t ng, nu c mt robot b hng c
th lm ngng hot ng ca c dy chuyn, cho nn robot vn lun hot ng di s gim
st ca con ngi.

TS. Phm ng Phc

Robot Cng nghip

1.3. Cc khi nim v nh ngha v robot cng nghip :

1.3.1. nh ngha robot cng nghip :
Hin nay c nhiu nh ngha v Robot, c th im qua mt s nh ngha nh sau :
nh ngha theo tiu chun AFNOR (Php) :
Robot cng nghip l mt c cu chuyn ng t ng c th lp trnh, lp li cc
chng trnh, tng hp cc chng trnh t ra trn cc trc to ; c kh nng nh v, nh
hng, di chuyn cc i tng vt cht : chi tit, dao c, g lp . . . theo nhng hnh trnh
thay i chng trnh ho nhm thc hin cc nhim v cng ngh khc nhau.
nh ngha theo RIA (Robot institute of America) :
Robot l mt tay my vn nng c th lp li cc chng trnh c thit k di
chuyn vt liu, chi tit, dng c hoc cc thit b chuyn dng thng qua cc chng trnh
chuyn ng c th thay i hon thnh cc nhim v khc nhau.
nh ngha theo OCT 25686-85 (Nga) :
Robot cng nghip l mt my t ng, c t c nh hoc di ng c, lin kt
gia mt tay my v mt h thng iu khin theo chng trnh, c th lp trnh li hon
thnh cc chc nng vn ng v iu khin trong qu trnh sn xut.
C th ni Robot cng nghip l mt my t ng linh hot thay th tng phn hoc
ton b cc hot ng c bp v hot ng tr tu ca con ngi trong nhiu kh nng thch
nghi khc nhau.
Robot cng nghip c kh nng chng trnh ho linh hot trn nhiu trc chuyn
ng, biu th cho s bc t do ca chng. Robot cng nghip c trang b nhng bn tay
my hoc cc c cu chp hnh, gii quyt nhng nhim v xc nh trong cc qu trnh cng
ngh : hoc trc tip tham gia thc hin cc nguyn cng (sn, hn, phun ph, rt kim loi
vo khun c, lp rp my . . .) hoc phc v cc qu trnh cng ngh (tho lp chi tit gia
cng, dao c, g . . .) vi nhng thao tc cm nm, vn chuyn v trao i cc i tng
vi cc trm cng ngh, trong mt h thng my t ng linh hot, c gi l H thng t
ng linh hot robot ho cho php thch ng nhanh v thao tc n gin khi nhim v sn
xut thay i.
1.3.2. Bc t do ca robot (DOF : Degrees Of Freedom) :
Bc t do l s kh nng chuyn ng ca mt c cu (chuyn ng quay hoc tnh
tin). dch chuyn c mt vt th trong khng gian, c cu chp hnh ca robot phi t
c mt s bc t do. Ni chung c h ca robot l mt c cu h, do bc t do ca n c
th tnh theo cng thc :
5

w = 6n -

ip
i =1

(1.1)

y :

n - S khu ng;
pi - S khp loi i (i = 1,2,. . .,5 : S bc t do b hn ch).
i vi cc c cu c cc khu c ni vi nhau bng khp quay hoc tnh tin (khp
ng loi 5) th s bc t do bng vi s khu ng . i vi c cu h, s bc t do bng tng
s bc t do ca cc khp ng.
nh v v nh hng khu chp hnh cui mt cch tu trong khng gian 3
chiu robot cn c 6 bc t do, trong 3 bc t do nh v v 3 bc t do nh hng.
Mt s cng vic n gin nng h, sp xp... c th yu cu s bc t do t hn. Cc robot
hn, sn... thng yu cu 6 bc t do. Trong mt s trng hp cn s kho lo, linh hot
hoc khi cn phi ti u ho qu o,... ngi ta dng robot vi s bc t do ln hn 6.
1.3.3. H to (Coordinate frames) :
Mi robot thng bao gm nhiu khu (links) lin kt vi nhau qua cc khp (joints),
to thnh mt xch ng hc xut pht t mt khu c bn (base) ng yn. H to gn vi

TS. Phm ng Phc

Robot Cng nghip

khu c bn gi l h to c bn (hay h to chun). Cc h to trung gian khc gn

vi cc khu ng gi l h to suy rng. Trong tng thi im hot ng, cc to suy
rng xc nh cu hnh ca robot bng cc chuyn dch di hoc cc chuyn dch gc cu cc
khp tnh tin hoc khp quay (hnh 1.1). Cc to suy rng cn c gi l bin khp.
z
4
3

d2

n
a

o On

1
y
x

O0

Hnh 1.1 : Cc to suy rng ca robot.

Cc h to gn trn cc khu ca robot phi
tun theo qui tc bn tay phi : Dng tay phi, nm hai
ngn tay t v p t vo lng bn tay, xo 3 ngn : ci,
tr v gia theo 3 phng vung gc nhau, nu chn
ngn ci l phng v chiu ca trc z, th ngn tr ch
phng, chiu ca trc x v ngn gia s biu th
phng, chiu ca trc y (hnh 1.2).
Trong robot ta thng dng ch O v ch s n
ch h to gn trn khu th n. Nh vy h to
c bn (H to gn vi khu c nh) s c k
hiu l O0; h to gn trn cc khu trung gian
tng ng s l O1, O2,..., On-1, H to gn trn khu
chp hnh cui k hiu l On.

O
y

Hnh 1.2 : Qui tc bn tay phi

1.3.4. Trng cng tc ca robot (Workspace or Range of motion):

Trng cng tc (hay vng lm vic, khng gian cng tc) ca robot l ton b th tch
c qut bi khu chp hnh cui khi robot thc hin tt c cc chuyn ng c th. Trng
cng tc b rng buc bi cc thng s hnh hc ca robot cng nh cc rng buc c hc ca
cc khp; v d, mt khp quay c chuyn ng nh hn mt gc 3600. Ngi ta thng dng
hai hnh chiu m t trng cng tc ca mt robot (hnh 1.3).

H
R

Hnh chiu bng

Hnh chiu ng
Hnh 1.3 : Biu din trng cng tc ca robot.

TS. Phm ng Phc

Robot Cng nghip

1.4. Cu trc c bn ca robot cng nghip :

1.4.1. Cc thnh phn chnh ca robot cng nghip :
Mt robot cng nghip thng bao gm cc thnh phn chnh nh : cnh tay robot,
ngun ng lc, dng c gn ln khu chp hnh cui, cc cm bin, b iu khin , thit b
dy hc, my tnh ... cc phn mm lp trnh cng nn c coi l mt thnh phn ca h
thng robot. Mi quan h gia cc thnh phn trong robot nh hnh 1.4.
Cc cm
bin

B iu
khin v
my tnh

Thit b
dy hc

Ngun
ng lc

Cc chng
trnh

Cnh tay
robot

Dng c
thao tc

Hnh 1.4 : Cc thnh phn chnh ca h thng robot.

Cnh tay robot (tay my) l kt cu c kh gm cc khu lin kt vi nhau bng cc
khp ng c th to nn nhng chuyn ng c bn ca robot.
Ngun ng lc l cc ng c in (mt chiu hoc ng c bc), cc h thng xy
lanh kh nn, thu lc to ng lc cho tay my hot ng.
Dng c thao tc c gn trn khu cui ca robot, dng c ca robot c th c nhiu
kiu khc nhau nh : dng bn tay nm bt i tng hoc cc cng c lm vic nh m
hn, mi, u phun sn ...
Thit b dy-hoc (Teach-Pendant) dng dy cho robot cc thao tc cn thit theo
yu cu ca qu trnh lm vic, sau robot t lp li cc ng tc c dy lm vic
(phng php lp trnh kiu dy hc).
Cc phn mm lp trnh v cc chng trnh iu khin robot c ci t trn my
tnh, dng iu khin robot thng qua b iu khin (Controller). B iu khin cn c gi
l Moun iu khin (hay Unit, Driver), n thng c kt ni vi my tnh. Mt moun
iu khin c th cn c cc cng Vo - Ra (I/O port) lm vic vi nhiu thit b khc nhau
nh cc cm bin gip robot nhn bit trng thi ca bn thn, xc nh v tr ca i tng
lm vic hoc cc d tm khc; iu khin cc bng ti hoc c cu cp phi hot ng phi
hp vi robot ...
1.4.2. Kt cu ca tay my :
Nh ni trn, tay my l thnh phn quan trng, n quyt nh kh nng lm vic
ca robot. Cc kt cu ca nhiu tay my c phng theo cu to v chc nng ca tay
ngi; tuy nhin ngy nay, tay my c thit k rt a dng, nhiu cnh tay robot c hnh
dng rt khc xa cnh tay ngi. Trong thit k v s dng tay my, chng ta cn quan tm
n cc thng s hnh - ng hc, l nhng thng s lin quan n kh nng lm vic ca
robot nh : tm vi (hay trng cng tc), s bc t do (th hin s kho lo linh hot ca
robot), cng vng, ti trng vt nng, lc kp . . .

TS. Phm ng Phc

Robot Cng nghip

Cc khu ca robot thng thc hin hai chuyn ng c bn :

Chuyn ng tnh tin theo hng x,y,z trong khng gian Descarde, thng thng
to nn cc hnh khi, cc chuyn ng ny thng k hiu l T (Translation) hoc
P (Prismatic).
Chuyn ng quay quanh cc trc x,y,z k hiu l R (Roatation).
Tu thuc vo s khu v s t hp cc chuyn ng (R v T) m tay my c cc kt
cu khc nhau vi vng lm vic khc nhau. Cc kt cu thng gp ca l Robot l robot
kiu to cc, to tr, to cu, robot kiu SCARA, h to gc (phng sinh) ...
Robot kiu to cc : l tay
my c 3 chuyn ng c bn tnh tin
theo phng ca cc trc h to gc
(cu hnh T.T.T). Trng cng tc c dng
khi ch nht. Do kt cu n gin, loi
tay my ny c cng vng cao,
chnh xc c kh d m bo v vy n
thung dng vn chuyn phi liu, lp
rp, hn trong mt phng ...

T.T.T

Hnh 1.5 : Robot kiu to cc

R.T.T
Robot kiu to tr : Vng lm
vic ca robot c dng hnh tr rng.
Thng khp th nht chuyn ng quay.
V d robot 3 bc t do, cu hnh R.T.T
nh hnh v 1.6. C nhiu robot kiu to
tr nh : robot Versatran ca hng
AMF (Hoa K).
Hnh 1.6 : Robot kiu to tr
Robot kiu to cu : Vng lm vic ca robot c dng hnh cu. thng cng
vng ca loi robot ny thp hn so vi hai loi trn. V d robot 3 bc t do, cu hnh R.R.R
hoc R.R.T lm vic theo kiu to cu (hnh 1.7).

R.R.R

R.R.T

Hnh 1.7 : Robot kiu to cu

Robot kiu to gc (H to phng sinh) : y l kiu robot c dng nhiu
hn c. Ba chuyn ng u tin l cc chuyn ng quay, trc quay th nht vung gc vi
hai trc kia. Cc chuyn ng nh hng khc cng l cc chuyn ng quay. Vng lm vic
ca tay my ny gn ging mt phn khi cu. Tt c cc khu u nm trong mt phng
thng ng nn cc tnh ton c bn l bi ton phng. u im ni bt ca cc loi robot hot
TS. Phm ng Phc

Robot Cng nghip

ng theo h to gc l gn nh, tc l c vng lm vic tng i ln so vi kch c ca

bn thn robot, linh hot cao.
Cc robot hot ng theo h to gc nh : Robot PUMA ca hng Unimation Nokia (Hoa K - Phn Lan), IRb-6, IRb-60 (Thu in), Toshiba, Mitsubishi, Mazak (Nht
Bn) .V.V...
V d mt robot hot ng theo h to gc (H to phng sinh), c cu hnh
RRR.RRR :

Hnh 1.8 : Robot hot ng theo h to gc.

Robot kiu SCARA : Robot SCARA ra
i vo nm 1979 ti trng i hc
Yamanashi (Nht Bn) l mt kiu robot mi
nhm p ng s a dng ca cc qu trnh sn
xut. Tn gi SCARA l vit tt ca "Selective
Compliant Articulated Robot Arm" : Tay my
mm do tu . Loi robot ny thng dng
trong cng vic lp rp nn SCARA i khi
c gii thch l t vit tt ca "Selective
Compliance Assembly Robot Arm". Ba khp
u tin ca kiu Robot ny c cu hnh R.R.T,
cc trc khp u theo phng thng ng. S
ca robot SCARA nh hnh 1.9.

Hnh 1.9 : Robot kiu SCARA

1.5. Phn loi Robot cng nghip :

Robot cng nghip rt phong ph a dng, c th c phn loi theo cc cch sau :
1.4.1. Phn loi theo kt cu :
Theo kt cu ca tay my ngi ta phn thnh robot kiu to cc, Kiu to
tr, kiu to cu, kiu to gc, robot kiu SCARA nh trnh by trn.
1.4.2. Phn loi theo h thng truyn ng :
C cc dng truyn ng ph bin l :
H truyn ng in : Thng dng cc ng c in 1 chiu (DC : Direct Current)
hoc cc ng c bc (step motor). Loi truyn ng ny d iu khin, kt cu gn.
H truyn ng thu lc : c th t c cng sut cao, p ng nhng iu kin lm
vic nng. Tuy nhin h thng thu lc thng c kt cu cng knh, tn ti phi tuyn ln
kh x l khi iu khin.
H truyn ng kh nn : c kt cu gn nh hn do khng cn dn ngc nhng li
phi gn lin vi trung tm ta ra kh nn. H ny lm vic vi cng sut trung bnh v nh,
km chnh xc, thng ch thch hp vi cc robot hot ng theo chng trnh nh sn vi
cc thao tc n gin nhc ln - t xung (Pick and Place or PTP : Point To Point).

TS. Phm ng Phc

Robot Cng nghip

1.4.3. Phn loi theo ng dng :

Da vo ng dng ca robot trong sn xut c Robot sn, robot hn, robot lp rp,
robot chuyn phi .v.v...
1.4.4. Phn loi theo cch thc v c trng ca phng php iu khin :
C robot iu khin h (mch iu khin khng c cc quan h phn hi), Robot iu
khin kn (hay iu khin servo) : s dng cm bin, mch phn hi tng chnh xc v
mc linh hot khi iu khin.
Ngoi ra cn c th c cc cch phn loi khc tu theo quan im v mc ch nghin
cu
-----------------------------------------------------------------------------------------------------------------

TS. Phm ng Phc