工业机器人技术及应用教案大纲.docx

工业机器人技术及应用课程教学大纲Technology and application of industrial robot course syllabus课程编号Course numberxxxx适用年级Applicable grade大学三年级 （四年级）开课学期Opening Semester6(7)学分Credit3理论学时Theoretical hours32实践学时Practical hours16一,课程说明(Course Description)工业机器人技术及应用是智能制造工程专业方向课程的必修课程，通常在第六学期或第 七学期开设。该课程主要包括工业机器人基础理论、任务编程、智能感知和系统集成等内容。通 过本课程的学习，使学生掌握工业机器人机构/控制模块、运动学原理和典型工艺集成系统，能够 解决机器人在物料搬运、产品焊接及成品装配等典型智能制造工序中的实际问题。激发学生的爱 国热情，培养学生积极投身国家智能制造专项建设、培养学生为建设制造强国而奋斗的精神。Technology and application of industrial robot is a compulsory course of intelligent manufacturing engineering, which is usually opened in the sixth or seventh semester. This course mainly includes basic theory of industrial robots, task programming, intelligent perception and system integration. Through the study of this course, students can master the mechanism/control module, kinematics principle and typical process integration system of industrial robot, and solve the practical problems of robot in typical intelligent manufacturing processes such as material handling, product welding and finished product assembly. To stimulate students* patriotic enthusiasm, cultivate students to actively participate in the national intelligent manufacturing special construction, cultivate students1 spirit of striving for building a manufacturing power.二.本课程与其他课程的联系与分工(The relationship and division of labor between this course and other courses)本课程的先修课程为“智能制造工艺学” “高等数学”“机械原理”“单片机原理与应 用”“电工电子技术”等课程。The prerequisite courses of this course are intelligent manufacturing technology, higher mathematics, mechanical principle, hydraulic and pneumatic transmission and electromechanical drive control.三、课程目标及对毕业要求指标点的支撑关系(Curriculum objectives and the supporting relationship to graduation requirements)注：工作方式可以是个人或小组。Note: the working mode can be individual or group.七.达成度评价方法(Achievement evaluation method ).课程目标达成评价(Evaluation on the achievement of curriculum objectives)考核方式对课程目标的支撑关系及权重分配(The supporting relationship and weight distribution of assessment methods to curriculum objectives)：课程目标Curriculum objectives考核方式及其对应课程目标的权重分配 Assessment methods and weight distribution of corresponding course objectives课程作业Course assignments课程实验Course experiment期末考试Final exam10.20.30.520.20.50.330.30.70注：若某项课程目标由单一考核方式支撑，则该考核方式权重为1；若某项课程目标由多个考核方式支撑, 请根据各考核方式对该课程目标的贡献程度确定权重，各考核方式权重和为loNote: if a course objective is supported by a single evaluation method, the weight of the evaluation method is 1; if acourse objective is supported by multiple evaluation methods, please determine the weight according to the contributionof each evaluation method to the course objective, and the sum of the weight of each evaluation method is 1.课程目标达成度计算公式(Calculation formula of curriculum goal achievement)：某项课程目标达成度=v灼帝学生在该项考核方式的平均得分考合式支撑某项课程目标的考核方式满分1 .毕业要求指标点达成评价(Achievement evaluation of graduation requirement index point)某项毕业要求指标点由多项课程目标支撑时，取课程目标达成度的最低值作为该项毕业要求指标点的达成度。When a graduation requirement index point is supported by multiple course objectives, the lowest value of the degree of achievement of the course objectives is taken as the degree of achievement of the graduation requirement index point.八.建议学时分配(Recommended class hour allocation )课程教学内容Course content课程目标Curriculum objectives教学内容Content of courses建议学时 Recommended hours123理论 教学 Theory teaching1绪论Introduction272工业机器人的机械结构 和运动控制Mechanical structure and motion control of industrial robot63工业机器人的手动操作Manual operation of industrial robot2q4工业机器人的任务编程 Task programming of industrial robot6q5搬运机器人和码垛机器 人认知与应用Cognition and integrated application of handling robot and palletizing robot6V6焊接机器人认知与应用Cognition and integrated application of welding robot477涂装机器人和装配机器 人认知与应用Cognition and integrated application of painting robot and assembly robot67实践 教学 Practical teaching实验1关节型工业机器人 的机械结构认知Mechanical structure cognition of joint industrial robot27实验2工业机器人的点位 和连续路径控制Point position and continuous path control of industrial robot2实验3工业机器人的直线 路径运动规划2q注：用“加方式描述教学内容(知识模块或知识点)对课程目标的支撑。Linear path motion planning of industrial robot实验4工业机器人的圆弧 路径运动规划Arc path motion planning of industrial robot4实验5机器人搬运系统认 知与应用编程Cognition and application programming of robot handling system2实验6机器人弧焊系统认 知与应用编程Cognition and application programming of robot arc welding system2V实验7机器人装配系统认 知与应用编程Cognition and application programming of robot assembly system2合计48Note: using to describe the support of teaching content (knowledge module or knowledge point) to curriculum objectives.九.建议教材与参考书(Recommended teaching materials and reference books )1 .建议教材(Recommended teaching materials)兰虎、鄂世举主编,工业机器人技术及应用(第2版)，机械工业出版社，2020.LAN Hu and E Shiju, Technology and application of industrial robots (2nd Edition), China Machine Press, 2020.2 .参考书目(Reference books)1兰虎、王冬云主编.工业机器人基础，机械工业出版社，2020.LAN Hu and Wang Dongyun, Fundamentals of industrial robots, China Machine Press, 2020.2宋星亮、王冬云主编.工业机器人基础及应用编程技术，机械工业出版社，2019.Song Xingliang and Wang Dongyun, Fundamentals of industrial robots and application programming technology, China Machine Press, 2019.3戴凤智、乔栋主编.工业机器人技术基础及其应用，机械工业出版社，2020.Dai Fengzhi and Qiao Dong, fundamentals and applications of industrial robot technology, China Machine Press, 2020课程负责人(Course Leader )： 专业负责人(Major Leader )： 教学副院长(Vice Dean of Teaching )： 制订时间(Formulated on )：1.课程目标(Curriculum objectives)本课程以了解工业机器人的分类、典型应用及产业现状为切入点，重点介绍工业机器人系统 应用中运动轨迹、工艺条件和动作次序等核心编程知识，尤其以提质增效为宗旨的机器人应用系 统参数调控原理和方法，使学生能够解决机器人在物料搬运、产品焊接及成品装配等典型智能制 造工序中的实际问题，以期培养学生综合运用所学专业知识分析和解决复杂工程问题的能力。Understanding the classification, typical applications and industrial status of industrial robots as the starting point, this course focuses on the core programming knowledge of motion trajectory, process conditions and action sequence in the application of industrial robot system, especially the principle and method of parameter regulation of robot application system for the purpose of improving quality and efficiency. Students can solve the practical problems of robot in typical intelligent manufacturing processes such as material handling, product welding and finished product assembly. In order to cultivate students1 ability to analyze and solve complex engineering problems by comprehensively applying the professional knowledge they have learned.(1)知识目标(Knowledge goals)1)能够列举工业机器人系统的组成并阐明其工作原理；List the components of an industrial robot system and explain how they work.2)能够辨识工业机器人系统运动轴类型及常见的点动坐标系；Identify the motion axis types and common jog coordinate systems of industrial robot systems.3)能够归纳工业机器人任务示教的主要内容和基本流程；Summarize the main content and basic process of industrial robot task teaching.4)能够根据任务要求合理开展机器人任务规划和运动规划；Reasonably carry out robot task planning and motion planning according to task requirements.5)能够使用机器人编程指令完成直线、圆弧及摆动轨迹的任务编程；Use robot programming instructions to complete the task programming of straight line, arc and swing trajectory.6)能够区别机器人I/O信号并实现周边(工艺)辅助设备的协同(调)动作。Distinguish the I/O signals of the robot and realize the coordinated (adjustment) action of the peripheral (process) auxiliary equipment.7)能够应用专业知识，设计机器人搬运、码垛、焊接、涂装、装配典型工艺系统集成方案, 分析解决工程实际问题。Can apply professional knowledge, design robot handling, stacking > welding, painting, assembly and other typical process system integration scheme, analyze and solve practical engineering problems.(2)能力培养(Ability training)1)能够适时选择恰当的点动坐标系完成机器人的增量点动和连续移动(或转动)。Select the appropriate jog coordinate system at the right time to complete the incremental jog and continuous movement (or rotation) of the robot.2)能够快速运用接触法和直接输入法完成机器人工具坐标系的设置。Quickly use contact method and direct input method to complete the setting of robot tool coordinate system.3)能够创建、编辑、测试和运转机器人任务程序。Be able to create, edit, test and run robot task programs.4)能够根据作业缺陷灵活调整机器人工具姿态和工艺条件。Flexibly adjust the robot tool attitude and process conditions according to the operation defects.5)能够使用示教盒实时监测机器人系统运动和I/O接口状态。Use the teaching box to monitor the robot system motion and I/O interface status in real time.6)能够完成简单的机器人搬运、码垛、焊接、涂装、装配任务示教。Complete simple tasks of robot handling, stacking, welding, painting and assembly.(3)思政目标(Ideological and political objectives)1)通过对工业机器人等智能装备技术的认知学习，了解该领域的“卡脖子”问题，激发学 生的责任感、使命感和爱国主义情怀；Through the cognitive learning of intelligent equipment technology such as industrial robots, students can understand the nstuck neck" problem in this field, so as to stimulate students' sense of responsibility, mission and patriotism.2)将“工匠精神”贯穿任务各个阶段，激励学生在学习和实践过程中不畏艰难、严谨思维 和团结协作；The 'draftsman spirit'* runs through all stages of the task, with the purpose of inspiring students to be brave, rigorous thinking, united and collaborative in the process of learning and practice.3)将所学知识综合运用在实际操作过程中，适应现代智能制造技术发展，培养具有较强实 践能力和创新精神的高素质复合型技术人才。Students will comprehensively apply what they have learned in the actual operation process to adapt to the development of modern intelligent manufacturing technology. Cultivate high-quality compound technical talents with strong practical ability and innovative spirit.2.课程目标对毕业要求指标点的支撑(The support of curriculum goal to graduation requirement index point)毕业要求指标点Graduation requirement index point课程目标Course objectives1232.1能识别和判断智能制造工程问题的关键环节和参 数。Can identify and judge the key links and parameters of intelligent manufacturing engineering problems.q3.1能够根据用户需求确定设计目标。Be able to determine design objectives according to user requirements.3.2能够在安全、环境、法律等现实约束条件下，通 过技术、经济评价对智能制造系统的设计方案可行性 进行研究。Under the realistic constraints of safety, environment and law, the feasibility of the design scheme of intelligent manufacturing system can be studied through technical and economic evaluation.3.3能够通过建模进行智能制造系统、部件的结构设 计和工艺计算，并对设计方案进行优选，体现创新意 识。Through modeling, the structure design and process calculation of intelligent manufacturing system and components can be carried out, and the design scheme can be optimized to reflect the innovation consciousness.3.4能够用图纸、报告或实物等形式，呈现设计成果。 Be able to present design results in the form of drawings, reports or objects.4.4能够对实验结果进行分析和解释，并通信息综合 得合理有效的结论。The experimental results can be analyzed and explained, and reasonable and effective conclusions can be obtained through information synthesis.7.2熟悉环境保护的相关法律法规，理解全球化制造 业践行的“绿色制造”理念。Familiar with the relevant laws and regulations of environmental protection, understand the concept of green manufacturing practiced by global manufacturing industry.注：用“加方式描述课程目标与毕业要求指标点的支撑关系。Note: using W” to describe the supporting relationship between curriculum objectives and graduation requirements.四.课程教学内容(Course content )(一)理论教学(Theory teaching )1 .绪论(Introduction)了解工业机器人的基本概念、发展概况、常见分类、典型应用以及产业现状。Understand the basic concept of industrial robot, development overview, common classification, typical application and industrial status.2 .工业机器人的机械结构和运动控制(Mechanical structure and motion control of industrial robot)掌握工业机器人的机构组成及各部分的功能；了解工业机器人的常见技术指标；理解工业机 器人的关节构型、关节驱动和关节传动。重点掌握垂直多关节型工业机器人的机构构型。了解连 杆与坐标系基本描述；掌握工业机器人运动学分析的两类基本问题；理解工业机器人动力学分析; 理解工业机器人点位控制、连续路径控制和轨迹控制原理，了解其应用。重点掌握机器人运动学 正解和逆解，难点是机器人动力学分析。Master the structure and function of each part of the industrial robot; understand the common technical indicators of the industrial robot; understand the joint configuration, joint drive and joint transmission of the industrial robot. The key point is to master the mechanism configuration of vertical multi joint industrial robot. Understand the basic description of connecting rod and coordinate system; master the two basic problems of kinematics analysis of industrial robot; understand the dynamic analysis of industrial robot; understand the principle of point position control, continuous path control and trajectory control of industrial robot, and understand its application. It is important to master the forward and inverse kinematics solutions of the robot, and the difficulty is the dynamic analysis of the robot.3 .工业机器人的手动操作(Manual operation of industrial robot)熟悉工业机器人的安全使用规范以及示教盒屏幕、按键布局；掌握工业机器人本体轴及其系 统附加轴的手动控制方式；掌握工业机器人点动控制的基本流程及其在典型坐标系中的运动特 点。重点掌握使用示教盒任意点动机器人本体轴及其系统附加轴。难点是选择合适的坐标系手动 控制机器人运动。Be familiar with the safe use specifications of industrial robots, as well as the screen and key layout of the teaching box; Master the manual control mode of industrial robot body axis and its system additional axis; Master the basic process of industrial robot inching control and its motion characteristics in typical coordinate system. Focus on using the teaching box to jog the body axis of the robot and the additional axis of the system. The difficulty is to select an appropriate coordinate system to manually control the robot motion.4 .工业机器人的任务编程(Task programming of industrial robot)掌握工业机器人任务示教的主要内容；了解工业机器人的在线示教和离线编程。重点掌握工 业机器人系统运动轴和任务编程主耍内容，难点是工业机器人坐标系及机器人在不同坐标系下的 运动特点。Master the main content of industrial robot task teaching; understand the online teaching and offline programming of industrial robot. The key point is to master the motion axis and task programming of industrial robot system. The difficulty is the coordinate system of industrial robot and the motion characteristics of robot in different coordinate systems.5 .搬运机器人认知与应用(Cognition and application of handling robot)了解搬运机器人的常见分类；掌握搬运机器人的系统组成；了解搬运机器人的生产布局；掌 握上下料机器人系统集成技术以及编程调试。重点掌握搬运机器人的系统组成及集成技术，难点 是控制系统集成设计。Understand the common classification of handling robot; master the system composition of handling robot; understand the production layout of handling robot; master the system integration technology and programming debugging of loading and unloading robot. The key point is to master the system composition and integration technology of the handling robot, and the difficulty is the integrated design of the control system.6 .码垛机器人认知与应用(Cognition and application of palletizing robot)了解码垛机器人的常见分类；掌握码垛机器人的系统组成；了解码垛机器人的生产布局；掌 握码垛机器人系统集成技术以及编程调试。重点掌握码垛机器人的系统组成及集成技术，难点是 控制系统集成设计。Understand the common classification of palletizing robot; master the system composition of transport robot; understand the production layout of palletizing robot. The key point is to master the system composition and integration technology of the palletizing robot, and the difficulty is the integrated design of the control system.7 .焊接机器人认知与应用(Cognition and application of welding robot)了解焊接机器人的常见分类；掌握焊接机器人的系统组成；了解焊接机器人的生产布局；掌 握弧焊机器人系统集成技术以及编程调试。重点掌握弧焊机器人的系统组成及集成技术，难点是 机器人弧焊工艺调试。Understand the common classification of welding robot; master the system composition of welding robot; understand the production layout of welding robot; master the sy