1756-L71S 1756-L71S
如果需要更精确的定位，也可以将摄像机安装在机器人上，由机器人将摄像机移动到一个或一组部件
上端并拍照，然后将照片传回给机器人进行分析并定位。当某一层上所有部件都被取走之后，机器人
会取掉隔板，并开始摘取下一层的部件。
不管是将摄像机固定，还是安装在机器人上，所增加的成本都比使用一个特别的垫料或者其它方法来
定位部件的成本要低得多。视觉系统还能带来更高的灵活性，以处理同一条线上的不同部件，或者适
应部件的更替。由于成本上的原因，这样的自动叠板卸垛在几年前根本无法实现，而现在，有了视觉
系统，机器人方案可行了，也可以负担得起了。
视觉系统给机器人使用带来的另外一个益处，是降低了用来将部件呈送给机器人的传送器的成本。在
使用2D视觉系统之前，很多部件都必须在由托板传送器传送的固定托板上定位。即便是简单的托板传
送器成本也要3万美金，而且成本还会随着传送器传送距离的增长而提高。有了2D视觉技术，部件可以
在相对便宜的带式传送器上进行传送。被操作员或者机器人放到传送器上的部件接着会被传送给机器
人。当安装于传送器末端的一个摄像机检测到某个部件已被传送到末端时，传送器会马上停止。摄像
机还会对部件进行定位，以协助机器人将之摘取。
和用来在箱柜中从隔板上取走部件一样，视觉系统在传送带上也可以协助机器人准确定位并摘取大多
数部件。
对定位同一平面放置的部件，2D视觉系统是*的，但它也不是*的。在过去几年里，已经有三维
视觉系统可以用来定位不在一个平面上的部件。比如，这些部件可能是彼此层叠的，但也可能随着部
件的叠起而两端换位。此时2D图像就不能提供足够的信息来处理这种位移了。
一个已经在实际使用中得到证明的简单方法是，在2D摄像机的基础上再结合激光器光带。在箱柜顶部
安装2D摄像机对部件进行大致定位，并确认下一个要选择的部件。然后在机器人上安装另一个摄像机
，并结合激光器。机器人移动激光器和摄像机到另一个部件上方，接着，激光器会将附加准心对准部
件上的某个目标。部件上的这个目标可以是一条边、一个圆或者其它明显标志。通过简单的三角测量
，摄像机就可以立体定位部件的位置和方向。
zui的应用是利用3D视觉系统来定位箱柜中任意方向的部件，但这显然困难重重，比如，部件有可
能彼此混杂在一起，而且，还要避开箱柜壁。
触觉响应
尽管视觉系统是机器人智能传感器zui通用的方法，却不是*的方法。还有一种6度随意力传感器可用
来给机器人提供触觉响应。在要求高精度的组装中，力传感器就会被用来引导力度合适的部件进行插
入操作，比如，将轴状物插入到某个孔中。带有力传感器的机器人还可以用于更复杂的组装任务，比
如将装置插入到外壳。这个过程需要非常准确，并要经过很多个步骤。经过编程的机器人可以像真正
的人一样，前后移动装置，直到每一个步骤都*符合。
在对一个复杂的部件进行磨光时也可以使用力传感器来提供触觉响应。以前这是由特定的设备来进行
的，但是这些设备可能无法达到所要求的精确度。给机器人添加6D力传感器，然后加上一个磨盘，机
器人就可以在方向改变的情况下仍保持一个不变的力度，抵消了重力影响。
今后的方案
智能传感器技术在各种领域机器人的成功运用中起着至关重要的作用。随着智能传感器技术的继续发
展，机器人在将来将拥有更多功能。尽管在进行极其复杂的区别上没有什么可以替代人脑这台超级电
脑，但过去那些曾被认为不可能的应用现在对于智能机器人已经是“家常便饭”了。
经常浏览一些国外机器人的朋友们可能经常见到“BEAM Robotic”这个名词，但在一些机器人学
的教科书上却找不到这个名词的解释。那么“BEAM Robotic”到底指的是哪一类的机器人呢？
“BEAM Robotic”的概念是由*的机器人爱好者Mark Tilden提出的。现在实验室里的
多数机器人都是一开始为实现一个复杂的任务而设计，技术门槛高，成本也绝非一般个人爱好者所能
够承担。而Mark Tilden则反其道而行之，主张从zui基本的模仿自然生物某一功能的简单机器人坐做起
，如同自然界生物进化一样，逐渐从简单到复杂的实现机器人的“进化”。正是因为如此，“BEAM”
机器人技术门槛低，成本不高的特点吸引了众多业余爱好者的加入。“BEAM”是以下几个单词的缩写
：
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
