工业机器人是指由机械手(机械体)、控制器、伺服驱动系统和传感装置等组成，可由人操作、自动控制和重新编程，并能在三维空间完成各种操作的光机电一体化生产设备。特别适用于多品种、多批次的柔性制造系统。

Industrial robots refer to opto electromechanical integrated production equipment composed of robotic arms (mechanical bodies), controllers, servo drive systems, and sensing devices, which can be operated, automatically controlled, and reprogrammed by humans, and can complete various operations in three-dimensional space. Especially suitable for flexible manufacturing systems with multiple varieties and batches.

，工业机器人根据手臂的运动形式分为四种类型：

Firstly, industrial robots are divided into four types based on the movement of their arms:

1.矩形臂可以沿三个直角坐标移动；

1. The rectangular arm can move along three Cartesian coordinates;

2.圆柱坐标臂可以提升、旋转和伸展；

2. The cylindrical coordinate arm can be lifted, rotated, and extended;

3.球坐标臂可以旋转、俯仰和伸缩；

3. The spherical coordinate arm can rotate, pitch, and stretch;

4.铰接臂有多个旋转接头。

4. The articulated arm has multiple swivel joints.

工业机器人根据执行机构运动的控制功能可分为点式和连续履带式。

Industrial robots can be divided into point type and continuous track type based on the control function of the actuator movement.

1.点式仅控制执行机构从一点到另一点的精确定位，适用于机床装卸、点焊和一般搬运、装卸作业；

1. Point type only controls the precise positioning of the actuator from one point to another, suitable for machine tool loading and unloading, spot welding, and general handling and loading and unloading operations;

2.连续轨道式可控制执行机构按照给定的轨道运动，适用于连续焊接和喷漆作业。

2. The continuous track type controllable actuator moves according to the given track, suitable for continuous welding and painting operations.

3.工业机器人根据程序输入方式可分为编程输入型和教学输入型：

3. Industrial robots can be divided into programming input type and teaching input type according to the program input method:

1.编程输入类型为通过RS232串口或以太网将计算机上已编程的操作程序文件传输机器人控制柜。

1. The programming input type is to transfer the programmed operation program files on the computer to the robot control cabinet through RS232 serial port or Ethernet.

2.教学输入类型有两种教学方法：

There are two teaching methods for teaching input types:

一是操作者利用手动控制器(示教控制箱)将指令信号传递给驱动系统，使执行机构按照所需的动作顺序和运动轨迹执行一次；

One is that the operator uses a manual controller (teaching control box) to transmit command signals to the driving system, so that the executing mechanism can execute once according to the required action sequence and motion trajectory;

另一种是操作者直接引导执行机构按照要求的动作顺序和轨迹再次执行。在教学过程中，工作程序的信息自动存储在程序存储器中。当机器人自动工作时，控制系统从程序存储器中检测相应的信息，并将指令信号传送给驱动机构，使执行机构能够再现所示教的各种动作。教授输入程序的工业机器人被称为教学

Another approach is for the operator to directly guide the executing mechanism to execute again according to the required action sequence and trajectory. During the teaching process, the information of the work program is automatically stored in the program memory. When the robot operates automatically, the control system detects corresponding information from the program memory and transmits command signals to the driving mechanism, enabling the executing mechanism to reproduce various actions taught. Industrial robots that teach input programs are called teaching

具有触觉、力觉或简单的视觉的工业机器人，能在较为复杂的环境下工作；如具有识别功能或更进一步增加自适应、自学习功能，即成为智能型工业机器人。它能按照人给的“宏指令”自选或自编程序去适应环境，并自动完成更为复杂的工作。

Industrial robots with tactile, force, or simple vision, capable of working in complex environments; If it has recognition function or further adds adaptive and self-learning function, it becomes an intelligent industrial robot. It can adapt to the environment by selecting or programming according to the "macro instructions" given by humans, and automatically complete more complex tasks.

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