1756-L71S 1756-L71S 

如果需要更精確的定位，也可以將攝像機(jī)安裝在機(jī)器人上，由機(jī)器人將攝像機(jī)移動(dòng)到一個(gè)或一組部件

上端并拍照，然后將照片傳回給機(jī)器人進(jìn)行分析并定位。當(dāng)某一層上所有部件都被取走之后，機(jī)器人

會(huì)取掉隔板，并開始摘取下一層的部件。 

不管是將攝像機(jī)固定，還是安裝在機(jī)器人上，所增加的成本都比使用一個(gè)特別的墊料或者其它方法來

定位部件的成本要低得多。視覺系統(tǒng)還能帶來更高的靈活性，以處理同一條線上的不同部件，或者適

應(yīng)部件的更替。由于成本上的原因，這樣的自動(dòng)疊板卸垛在幾年前根本無法實(shí)現(xiàn)，而現(xiàn)在，有了視覺

系統(tǒng)，機(jī)器人方案可行了，也可以負(fù)擔(dān)得起了。 

視覺系統(tǒng)給機(jī)器人使用帶來的另外一個(gè)益處，是降低了用來將部件呈送給機(jī)器人的傳送器的成本。在

使用2D視覺系統(tǒng)之前，很多部件都必須在由托板傳送器傳送的固定托板上定位。即便是簡(jiǎn)單的托板傳

送器成本也要3萬美金，而且成本還會(huì)隨著傳送器傳送距離的增長(zhǎng)而提高。有了2D視覺技術(shù)，部件可以

在相對(duì)便宜的帶式傳送器上進(jìn)行傳送。被操作員或者機(jī)器人放到傳送器上的部件接著會(huì)被傳送給機(jī)器

人。當(dāng)安裝于傳送器末端的一個(gè)攝像機(jī)檢測(cè)到某個(gè)部件已被傳送到末端時(shí)，傳送器會(huì)馬上停止。攝像

機(jī)還會(huì)對(duì)部件進(jìn)行定位，以協(xié)助機(jī)器人將之摘取。 

和用來在箱柜中從隔板上取走部件一樣，視覺系統(tǒng)在傳送帶上也可以協(xié)助機(jī)器人準(zhǔn)確定位并摘取大多

數(shù)部件。 

對(duì)定位同一平面放置的部件，2D視覺系統(tǒng)是*的，但它也不是*的。在過去幾年里，已經(jīng)有三維

視覺系統(tǒng)可以用來定位不在一個(gè)平面上的部件。比如，這些部件可能是彼此層疊的，但也可能隨著部

件的疊起而兩端換位。此時(shí)2D圖像就不能提供足夠的信息來處理這種位移了。 

一個(gè)已經(jīng)在實(shí)際使用中得到證明的簡(jiǎn)單方法是，在2D攝像機(jī)的基礎(chǔ)上再結(jié)合激光器光帶。在箱柜頂部

安裝2D攝像機(jī)對(duì)部件進(jìn)行大致定位，并確認(rèn)下一個(gè)要選擇的部件。然后在機(jī)器人上安裝另一個(gè)攝像機(jī)

，并結(jié)合激光器。機(jī)器人移動(dòng)激光器和攝像機(jī)到另一個(gè)部件上方，接著，激光器會(huì)將附加準(zhǔn)心對(duì)準(zhǔn)部

件上的某個(gè)目標(biāo)。部件上的這個(gè)目標(biāo)可以是一條邊、一個(gè)圓或者其它明顯標(biāo)志。通過簡(jiǎn)單的三角測(cè)量

，攝像機(jī)就可以立體定位部件的位置和方向。 

zui的應(yīng)用是利用3D視覺系統(tǒng)來定位箱柜中任意方向的部件，但這顯然困難重重，比如，部件有可

能彼此混雜在一起，而且，還要避開箱柜壁。 

觸覺響應(yīng) 

盡管視覺系統(tǒng)是機(jī)器人智能傳感器zui通用的方法，卻不是*的方法。還有一種6度隨意力傳感器可用

來給機(jī)器人提供觸覺響應(yīng)。在要求高精度的組裝中，力傳感器就會(huì)被用來引導(dǎo)力度合適的部件進(jìn)行插

入操作，比如，將軸狀物插入到某個(gè)孔中。帶有力傳感器的機(jī)器人還可以用于更復(fù)雜的組裝任務(wù)，比

如將裝置插入到外殼。這個(gè)過程需要非常準(zhǔn)確，并要經(jīng)過很多個(gè)步驟。經(jīng)過編程的機(jī)器人可以像真正

的人一樣，前后移動(dòng)裝置，直到每一個(gè)步驟都*符合。 

在對(duì)一個(gè)復(fù)雜的部件進(jìn)行磨光時(shí)也可以使用力傳感器來提供觸覺響應(yīng)。以前這是由特定的設(shè)備來進(jìn)行

的，但是這些設(shè)備可能無法達(dá)到所要求的精確度。給機(jī)器人添加6D力傳感器，然后加上一個(gè)磨盤，機(jī)

器人就可以在方向改變的情況下仍保持一個(gè)不變的力度，抵消了重力影響。 

今后的方案 

智能傳感器技術(shù)在各種領(lǐng)域機(jī)器人的成功運(yùn)用中起著至關(guān)重要的作用。隨著智能傳感器技術(shù)的繼續(xù)發(fā)

展，機(jī)器人在將來將擁有更多功能。盡管在進(jìn)行極其復(fù)雜的區(qū)別上沒有什么可以替代人腦這臺(tái)超級(jí)電

腦，但過去那些曾被認(rèn)為不可能的應(yīng)用現(xiàn)在對(duì)于智能機(jī)器人已經(jīng)是“家常便飯”了。 

經(jīng)常瀏覽一些國外機(jī)器人的朋友們可能經(jīng)常見到“BEAM Robotic”這個(gè)名詞，但在一些機(jī)器人學(xué)

的教科書上卻找不到這個(gè)名詞的解釋。那么“BEAM Robotic”到底指的是哪一類的機(jī)器人呢？ 

           “BEAM Robotic”的概念是由*的機(jī)器人愛好者M(jìn)ark Tilden提出的?，F(xiàn)在實(shí)驗(yàn)室里的

多數(shù)機(jī)器人都是一開始為實(shí)現(xiàn)一個(gè)復(fù)雜的任務(wù)而設(shè)計(jì)，技術(shù)門檻高，成本也絕非一般個(gè)人愛好者所能

夠承擔(dān)。而Mark Tilden則反其道而行之，主張從zui基本的模仿自然生物某一功能的簡(jiǎn)單機(jī)器人坐做起

，如同自然界生物進(jìn)化一樣，逐漸從簡(jiǎn)單到復(fù)雜的實(shí)現(xiàn)機(jī)器人的“進(jìn)化”。正是因?yàn)槿绱耍?ldquo;BEAM”

機(jī)器人技術(shù)門檻低，成本不高的特點(diǎn)吸引了眾多業(yè)余愛好者的加入。“BEAM”是以下幾個(gè)單詞的縮寫

：

Metso Valmet Neles Kajaani Consistency Transmitter microwave?MCA MCAi
 
ABB 57288531 Memory?86-192K Allen Bradley Stromberg 200039
 

ABB 58171760 Mem 86-3/10 Mem86-3*192K Allen Bradley Stromberg new
 

ABB 57088443 Memory?86-192K+192K AB Stromberg 200342 new
 

ABB 57288531 MEM 86-192K Memory Allen Bradley Stromberg?200039
 

ABB 57088443 MEM 86-192K + 192K RAM Memory DCG 3200-MR2 AB Stromberg 200342
 
ABB 57773677 Mem86-E?Mem86-128K AB Stromberg
 

ABB 57287977 Controller Video VD86 AB Stromberg
 

Honeywell Yamatake CRT-A 82114927-501 or82114927501
 

Metso Valmet Neles Consistency Transmitter Smart Pulp SmartPulp M3 ValmetSP
 

ABB 57287977 VD86 and 57088476 VD86 SCAN
 

Metso Valmet Neles Consistency Transmitter Smart Pulp SmartPulp M2
 

GE 621L0436 C001 PC?I/O Board
 

Honeywell Yamatake CRT-B 82114930-501 or82114930501
 

GE 0621L0436 G001 PC?I/O Board
 

Honeywell 4DP7APXOA311-B Analog Output Module DCS
 

ABB 57086785 DI86-M8/8 AB Stromberg
 

Metso Valmet Neles Consistency Transmitter Smart Pulp SmartPulp M1 RL blade
 

ABB 52614775 Mem86-E16K Mem86-128K AB Stromberg
 
Measurex 05291000 Honeywell replaced #?05367601
 
ABB 57275871 UC86-8CH Universal Counter?3100-UC1 Allen Bradley Stromberg 200054
 

ABB 58173487 Type FDC86-Unit1 Floppy Disk 3.5" AB Stromberg?3250-FC1 5761222
 

Measurex 05293701 video memory 3 channelassembly Honeywell
 

AB Stromberg 200052?ABB 57275812 AIO86-8/4 3100-AIO
 

ABB 52614775 UBC MEM86-E128K MEM86-16K
 

Reliance Electric 1SU42020 20HP AC DriveSP500 VS Drive 480?Volt
 
ABB 52590493 Ulma 2010/2020 Stromberg
 

ABB 58173487 Type FDC86 Unit 1B Floppy Disk3250-FC1 3.5" AB Stromberg 507736
 

ABB 57770163 FDC86-cont disk control A BStromberg 501908 FDC86CONT 3250-FDC
 

ABB 57775840 digital?input board with memory DI86-MU8/8 AB Stromberg 5761005 -1E
 
Oceana Sensor Technologies ICHM 20/20 Inligent Component?Health Monitoring
 

ABB DCS502-0025-51-2102100 DC Drive 24?Amp Regenetive drive DCS500
 

ABB DCS502-0025-51-21P2100 DC Drive 24?Amp Regenetive drive DCS500
 

ABB DCS502-0025-51-21P2110 DC Drive 24?Amp Regenetive drive DCS500
 

Metso Automation Valmet A413001 60F 32M?DCS Board CPU
 
ABB 52608317 Photo Amplifier Board Ulma?2020 Stromberg
 
Measurex 05290301 Multiplexed Serial Communication without Handshaking comm
 

ABB 57088648 USART 86-8CH + MEM USART86-8CH Allen Bradley?Stromberg 501895
 

Avtron 630103 PC Board
 

Avtron M938 Pulse Generator
 

ABB 57275871 UC86-8CH Universal Counter?3100-UC1 Allen Bradley Stromberg 200054
 

Measurex 05293500 X-Ray Controller?Honeywell
 

Measurex 05331100 VFC, 40 - 500k Honeywell
 

Measurex 05319005 ECC memory controller,Honeywell upgraded?version of 05319000
 

Digital M7270 LSI-11 CPU
 

ABB 52608317 Photo Amplifier Board Ulma?2020 Stromberg
 

ABB 57288001 VD86-Amp Video Amplifier Allen Bradley Stromberg 200047
 

ROSEMOUNT Smart Pressure Transmitter 2090PG2S22C1K5M5 4-20mA Hart with display
ABB 57298791 SKT-2?Stromberg serial?# 269950
 
Measurex 20000268 Microprocessor CPU LSI11/02 Honeywell machine gauging
 

Allen Bradley Stromberg 501895 USART 86-8CH + MEM USART86-8CH ABB 57088648 DRC
 

Honeywell 30731829-6?DCS solid state memory 30731829
 

Measurex 05329500 &?05329600 diagnostic?break point main BBU with Memory power
 
Measurex 05312600 Send Receive Buffer SRB Honeywell
 

ROSEMOUNT Smart Pressure Transmitter 3051CG5A02A1AH2B1E5L4M5DF 4-20mA 3051CG
 

ABB 57087234 PWD86?Allen Bradley Stromberg 200297
 

Measurex 05294000 printer plotter controller Honeywell
 

Acumeter PTC16 E6120?Temperature Control
 

Measurex 05330700 Plasma display driver?typ 2 Honeywell
 

Metso Automation Valmet A413040 DCS?Board DCU
 

Measurex 05291202 Contact I/O Honeywell
 
GE IC200ALG261D IC 200 ALG 261 D Analog?Input Module
 

ROSEMOUNT Smart Pressure Transmitter 3051CG4A02A1AHBB1E5L4DF?4-20mA 3051CG
 

Safematic 110 mm John Crane SEH110-GREO-300960 4.3275" 1857069 21341032 951858
 
Measurex 05265200 Serial Interface input/ouput I/O Honeywell
 

Allen Bradley 1772-ME16 RAM 16K Memory Module AB NIB
 

Measurex 05287300 Extended Memory MapperController
 

Measurex 05325100 I/O color sensor Honeywell
 

Measurex 05329201 Standard 86/88 Processor 05329200
 

Measurex 20000269 Memory 32K RAM Honeywell paper gauge Digital
 
GE 621L0429 G001 control board 621L0429G001 General Electric
 

John Crane mechanical seal 21341005 SEH-70 size 70mm shaft size 2.75
 
Honeywell 30735974-2?Trend Memory TDC 2000 DCS 30735974
 

Measurex 2000283 CPU?microcomputer, LSI?11/23 with floating?point Digital
 

Measurex 05293700 video memory 4 channelHoneywell
 
Allen Bradley 1770-RD2 RS232 Remote Driver AB NIB
 
Reliance Electric 0-52853-1 ISCB 0528531
 

Honeywell Yamatake 82408667-001 Memory board ROM / RAM
 

Measurex 05293600 Video Microprocessor
 

Reliance Electric 57C328 Automax I/O Remote Head Module
 

GE 621L0433 G001 PC?Board
 

Measurex 05324107 86/88 ROM 05324100Honeywell
 

Measurex 05320300 Q?bus E Prom Memeory OCC Prom #2 from assembly 05317003
 

Reliance 0-52855-2 CVCC Digital Control?NEW 0528552
 

FlowServe split mechanical seal 5.50" PSS III 157749PS3 PSS?III 5500 PS3
 

Honeywell 30731814-4?PLC board HWY 2 or?30731814 Highway 2?same as yamatake
 
FlowServe split mechanical seal 7.50" PSS 322701 1682624 New?8435902 MV3P7500PA3
 
Yamatake Honeywell?82408485-001 SBLA-III or 82408485
 

Honeywell Cable Logic 30732219-001 or 30732219001 same as Yamatake
 
Measurex 2000269 memory 32K LSI-11 CPU
 

Reliance Electric 0-57410 057410 57410 Isolated Analog
 
Measurex 05291101?8 channel count?Honeywell
 
Honeywell BF4CHM 60155703 Memory StoragePC Board
 

Reliance Electric 0-52853-1 ISCB 0528531
 

Danfoss Variable Speed Drive 175H1738 3004 VFD 5HP
 

Measurex 052328700 Memory Module 256K x?22 with 20 bit address
Reliance Electric 0-52852 CFCA 052852
 

Measurex 05290200 Real Time Clock Honeywell
 
Measurex 05341407 Q?Bus EPROM memory type 2 PCBA
 
Allen Bradley AB 1771-OWN Selectable Contact Output Module
 

General Electric TMONG01 Power Leader Monitor screen display 90-250VAC GE
 

Parker TB0390CS130AAAA Hydraulic Motor
 

Cutler-Hammer A10GN0?Size 5 Starter 200HP rated, 270 amp rated
 

GE 0621L0455 PC Control Board 621L0455?G001 General Electric
 

Honeywell Error Detect Crct 30751853-001?or 30751853001
 

GE 0621L0425 G002 Board 621L0425 OpticalGate Pulse and Conditioner Sensor
 
Reliance Electric 2GU42005 5HP AC Drive?GP-2000 D2-3166
 

Honeywell Cable Driver & Detectors 30732233-001 same as yamatake
 
Measurex 05331000 Computer manl DAC Assembly Honeywell
 
ROSEMOUNT SMART GAUGE PRESSURE TRANSMITTER 1151GP9S12 - NIB?New 4-20mA output
 
Honeywell Preferred?Accesss Expander 30735173-002 logic
 

Jordan Controls MV-1110A-19-.05 MV1110A?Single Phase
 

Honeywell 4DP7AOXDH111 A & B channel
 

Honeywell 30733155-001 Switching Regulator HTD 30733155
 

Yamatake Honeywell?82408458-002 BM-A 82408461-001
 

Honeywell Input Analog 4DP7APXIA322 OR 4DP7APXIA-322
 
Measurex 05341406 QBus EPROM memory type?2 PCBA ISM Honeywell
 

John Crane 4.0" mechanical seal T8B1-32A?8B1 part # B91244
 

Reliance Electric 0-52850 IRFA Remanufactured 052850
 

Danfoss 175H1733 3003 VFD Variable SpeedDrive 3HP VLT
 
ABB 57275847 USART86-INT Allen Bradley Stromberg 200042 Current Loop Module
 

GE IC 200 ALG 331EB?IC200ALG331EB AnalogOutput
 

GE 216B9675BA-0 Maintenance Panel Interface 517L901 G03
 

Measurex 05334500 Serial I/O type 2
 
GE 0621L0450 G001 Armature Interface Card Board 621L0450
 

Measurex 05317002 QBus EPROM memory type?2 Honeywell
 

Chesterton 442 Gemini Split Seal #682251 seal size -14 shaft size 1.750"
 

K-Tron K-SFT-120-S KSFT120S Load Cell Transducer KTRON
 

Federal Pioneer DSP-MK II Control Module
 

FlowServe 5.50" split mechanical seal 1360593 assembly 162774
 

Metso Automation D200532 DCS Board BIU8
 

Reliance Electric 0-58202 NEW 058202Automax
 

ABB 57275847 USART86-INT Allen Bradley Stromberg 200042 Current Loop 871203
 

Parker Digiplan HD130 Stepping Motor Drive
 

GE General Electric?IC 660 EBA 020 A IC660EBA020A Analog Input Unit
 
GE 621L0437 G001 PC?Board
 

PMV Valve Positioner?EP5N-PV45PR-TA 9002GCF365G1C22L36
 

Foxboro 800HA-WCR-PJ6FNA-A 800HAWCRPJ6FNAA Magnetic Flowtube
 
Reliance Electric 2GU41002 2HP AC Drive?GP-2000 D2-3166 New?Surplus 480V
 

Stegmann SPA3 PCB 046 071 506 503 New serial parrallel anpassmodul
 

FlowServe split mechanical seal 3.25" PSSIII3250ER2EFVV PS3?143382PS3 NEW
 

Siemens AMS-M223-A2?or C8451-A42-A33-5 LAN Ethernet
 

FlowServe split mechanical seal 2.75" PSS III 2750E42EFVV PS3 413321PS3 NEW
 

Parker PDM-0020 PDM0020 Hand Held Programmer
Measurex 05330200 Plasma display electronics Honeywell
 

John Crane 4.625" Mechanical Seal 0667097 Type 1 028D1D1-316?NEW
 

Federal Pioneer DMS2P-CR DMS2PCR DigitalMetering System
 

Honeywell 30735873-001 DCS Loop Manual card 30735873
 

Measurex 05299100 Unigauge backplane Honeywell
 

Measurex 05333200 Real time clock type II Honeywell
 

Chesterton 442 Gemini Split Seal #682249?seal size -12 shaft?size 1.50"
 

GE 0517L0910 G001 Rev 3 Master Data LinkBoard 517L0910
 

Yamatake Honeywell?82408440-001 or 82408440 UAC I/F
 
 

Metso Automation?A413125 DCS Board?AIU8 Valmet
 

Reliance Electric 0-57300 Field Power Module NEW 057300
 

Honeywell Operation?Station Memory 30751856-1
 

Federal Pioneer DMS-CR DMSCR Digital Metering System
 

Sick LGSE220-33 Optic Electronic Safety?Light Curtain Barrier
 

Honeywell 82407387-001 or 82407387001?IBC R15/20/30
 

Honeywell Yamatake 82407387-001 Control?card
 

Allen Bradley 1403-MM05A B 1403MM05A Powermonitor II
 
Measurex 05330001 Serial Keyboard Interface
 

GE 621L0451 G001 PC?Control Board
 

Kurz Instruments 155A/B 420247 Rev 02H Mother Board Assembly
 

Measurex 05330000 Serial Keyboard Interface to fit Foxboro 53007-6TX
 

Reliance Electric 0-52876-1 NEW drive 0528761
 

Hydraulics International Air Amplifier 5A-DS-2 5ADS2
 
Metso Automation A413135 AOU4 DCS?Board
 

Cutler-Hammer LN360600A Molded Case Switch 600 Amp
 
Chesterton 891/732A?Seal 90M shaft 3.5"?item# 698768
 
 

FlowServe 5.50" mechanical split seal 1360593 Dura Seal PSS?Type 37FS 162774
 

Measurex Serial Interface 2 Honeywell?05265300
 

Valmet Automation Metso A413140 DCS Board BIU8
 

Measurex 05265000 Serial Interface #1?Honeywell
 
John Crane 812255-48N2 Split mechanical?seal 3.0" type 3710?- 24A 3.00 inch
 

Measurex 05286800 MPU controller Honeywell
 

Allen Bradley 1403-MM05A B 1403MM05A Powermonitor II
 

ABB 57298821 Ulma KB2/A Keyboard AB Stromberg NEW
 

FlowServe 143256PS3?split seal PS3 PSSIII 2.0" A/PSS III 2000 ER2EFVV NEW
 
GE 0621L0426 G001 Rev 3 Contactor Driver621L0426
 

GE 0621L0438 G001 data link isolation power supply card 621L0438
 

Interface JB104SS SGA-44800
 
Reliance Electric 0-51811-5 TSTF Optional Testr 0518115
 

Valmet Process Automation M851006 SCU Module 72733
 
GE Multilin 269 Plus?Motor Management Relay Unit Model# 269?Plus-10C-240
 

John Crane 1.875" cartridge mechanical seal M53587 Type 5611?5611-15A New
 

GE IC200EBI001-DF IC?200 EBI 001 DF Ethernet
 

GE 0621L0428 G001 Drive Board General?Electric 621L0428
 
Reliance Electric 0-57408-C Power Module057408C 057408
 

Reliance 0-56313-1 Isolated Process Contrl NEW 0563131
 

Milltronics 7ML12011AF00 Level Transmitter 2 Wire Loop Powered
 

Measurex 05360500 Lamp supply color sensor Honeywell