Special English for Industrial Robot URL ：www.irobot-edu.com Mail ：edubot_zhang@126.com

49PARTs Unit01 Introduction of robot Unit02 Introduction of industrial robot Unit03 Types of industrial robots Unit04 ABB robot Unit05 KUKA robot Unit06 YASKAWA robot Unit07 FANUC Robot Unit08 SCARA robot Unit09 Industry application of robot Unit10 New robots Unit11 Intelligent manufacturing and global robot development program Unit12 The outlook for industrial robot 49PARTs

Special English for Industrial Robot Unit 4 ABB robot Task： Part1 ABB and ABB robot Part2 ABB product series Part3 The structure of the ABB robot Part4 Typical robot_IRB120 Special English for Industrial Robot Unit 4 ABB robot URL ：www.irobot-edu.com Mail：edubot_zhang@126.com

Figure 4-9 The composition structure of the ABB IRB120 robot Unit 4 ABB robot 16 Part3 The structure of the ABB robot Here we focus on ABB’s typical robot product IRB120 robot, part of ABB’s latest 6-axis industrial robots, as shown in Figure 4-9. ABB IRB120 robot is generally composed of three parts: robot arm, IRC5 controller and FlexPendant. Figure 4-9 The composition structure of the ABB IRB120 robot FlexPendant controller Robot arm

Figure 4-10 Robot arm of IRB120robot Unit 4 ABB robot 16 Part3 The structure of the ABB robot Robot arm Robot arm‐Manipulator, the main mechanical arm of industrial robots, the actuator used to complete the required tasks. Mainly composed of mechanical arm, driving device, transmission device and internal sensors. For a six-axis robot, the robotic arm mainly includes a base, a waist, an arm (boom and forearm), and a wrist, as shown in Figure 4-10. Figure 4-10 Robot arm of IRB120robot

16 Unit 4 ABB robot Controller Part3 The structure of the ABB robot The IRC5 controller contains all functions needed to move and control the robot. A controller consists of two modules, the Control Module and the Drive Module. The two modules are often combined in one controller cabinet, but referred to as modules.

16 Unit 4 ABB robot Controller Part3 The structure of the ABB robot • The Control Module contains all the control electronics such as main computer, I/O boards, and flash memory. The Control Module runs all software necessary for operating the robot (that is the RobotWare system). • The Drive Module contains all the power electronics supplying the robot motors. An IRC5 Drive Module may contain nine drive units and handle six internal axes plus two or additional axes depending on the robot model. When running more than one robot with one controller (MultiMove option), an extra Drive Module must be added for each additional robot. However, a single Control Module is used.

Figure 4-11 The surface structure of the FlexPendant Unit 4 ABB robot 16 Part3 The structure of the ABB robot FlexPendant The FlexPendant is a hand held operator unit used to perform many of the tasks involved when operating a robot system, such as: Running programs Jogging the manipulator Modifying robot programs. The surface structure of the FlexPendant is shown in Figure 4-11 . Figure 4-11 The surface structure of the FlexPendant

16 Unit 4 ABB robot FlexPendant Part3 The structure of the ABB robot The FlexPendant consists of both hardware and software and is a complete computer in itself. It is a part of IRC5, connected to the controller by an integrated cable and connector. The hot plug button option, however, makes it possible to disconnect the FlexPendant in automatic mode and continue running without it.

16 Unit 4 ABB robot Vocabulary Part3 The structure of the ABB robot FlexPendant   示教器 actuator ['æktʃʊ,etɚ] n. [自] 执行机构；激励者 forearm ['fɔːrɑːm] n.前臂 vt.预先武装 boom [buːm] vt.使兴旺 n.繁荣；吊杆 waist [west] n.腰，腰部 base [bes] n.底部 vt.以…作基础 wrist [rɪst] n.手腕；腕关节 vt.用腕力移动 module ['mɔdʒulz] n.模块；加载模块列表 integrated ['ɪntɪɡretɪd] adj.综合的；完整的；互相协调的 disconnect [,dɪskə'nɛkt] vt.拆开，使分离 vi.断开

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