目前，國際上從應用環(huán)境出發(fā)將機器人分為兩類：制造環(huán)境下的工業(yè)機器人和非制造環(huán)境下的服務與仿人型機器人。我國的機器人從應用環(huán)境出發(fā)，將機器人也分為兩大類，即工業(yè)機器人和特種機器人。這和國際上的分類是一致的。

Currently, internationally, robots are divided into two categories based on their application environment: industrial robots in manufacturing environments and service and humanoid robots in non manufacturing environments. Our country's robotics experts classify robots into two categories based on their application environment, namely industrial robots and special robots. This is consistent with the international classification.

　　工業(yè)機器人是指面向工業(yè)領域的多關節(jié)機械手或多自由度機器人。特種機器人則是除工業(yè)機器人之外的、用于非制造業(yè)并服務于人類的各種機器人，包括：服務機器人、水下機器人、娛樂機器人、軍用機器人、農(nóng)業(yè)機器人等。在特種機器人中，有些分支發(fā)展很快，有獨立成體系的趨勢，如服務機器人、水下機器人、軍用機器人、微操作機器人等。

Industrial robots refer to multi joint robotic arms or multi degree of freedom robots aimed at the industrial field. Special robots refer to various advanced robots used in non manufacturing industries and serving humans, in addition to industrial robots, including service robots, underwater robots, entertainment robots, military robots, agricultural robots, etc. In the field of special robots, some branches are developing rapidly and there is a trend towards independent systems, such as service robots, underwater robots, military robots, micro operation robots, etc.

　　1、工業(yè)機器人按臂部的運動形式分為四種。

1. Industrial robots are divided into four types based on the movement form of their arms.

　　直角坐標型的臂部可沿三個直角坐標移動；圓柱坐標型的臂部可作升降、回轉和伸縮動作；球坐標型的臂部能回轉、俯仰和伸縮；關節(jié)型的臂部有多個轉動關節(jié)。

The arm in Cartesian coordinates can move along three Cartesian coordinates; The cylindrical coordinate arm can perform lifting, rotating, and telescopic actions; The spherical coordinate arm can rotate, pitch, and retract; The articulated arm has multiple rotational joints.

　　2、工業(yè)機器人按執(zhí)行機構運動的控制機能，又可分點位型和連續(xù)軌跡型。

2. Industrial robots have control functions based on the motion of the executing mechanism, and can be divided into point position type and continuous trajectory type.

　　點位型只控制執(zhí)行機構由一點到另一點的準確定位，適用于機床上下料、點焊和一般搬運、裝卸等作業(yè)；連續(xù)軌跡型可控制執(zhí)行機構按給定軌跡運動，適用于連續(xù)焊接和涂裝等作業(yè)。

The point type only controls the accurate positioning of the actuator from one point to another, and is suitable for machine tool loading and unloading, spot welding, and general handling, loading and unloading operations; Continuous trajectory type can control the actuator to move according to the given trajectory, suitable for continuous welding and painting operations.

　　3、工業(yè)機器人按程序輸入方式區(qū)分有編程輸入型和示教輸入型兩類。

3. Industrial robots can be classified into two types based on program input methods: programming input type and teaching input type.

　　編程輸入型是將計算機上已編好的作業(yè)程序文件，通過RS-232串口或者以太網(wǎng)等通信方式傳送到機器人控制柜。

Programming input type is to transmit the pre programmed job program files on the computer to the robot control cabinet through communication methods such as RS-232 serial port or Ethernet.

　　示教輸入型的示教方法有兩種：一種是由操作者用手動控制器（示教操縱盒），將指令信號傳給驅(qū)動系統(tǒng)，使執(zhí)行機構按要求的動作順序和運動軌跡操演一遍；另一種是由操作者直接領動執(zhí)行機構，按要求的動作順序和運動軌跡操演一遍。

There are two types of demonstration input teaching methods: one is that the operator uses a manual controller (demonstration control box) to transmit command signals to the driving system, so that the executing mechanism can perform the required action sequence and motion trajectory once; Another approach is for the operator to directly lead the execution mechanism and perform it once according to the required sequence of actions and motion trajectory.

　　在示教過程的同時，工作程序的信息即自動存入程序存儲器中在機器人自動工作時，控制系統(tǒng)從程序存儲器中檢出相應信息，將指令信號傳給驅(qū)動機構，使執(zhí)行機構再現(xiàn)示教的各種動作。示教輸入程序的工業(yè)機器人稱為示教再現(xiàn)型工業(yè)機器人

During the teaching process, the information of the working program is automatically stored in the program memory. When the robot operates automatically, the control system detects the corresponding information from the program memory and transmits the instruction signal to the driving mechanism, allowing the executing mechanism to reproduce various actions of the teaching. Industrial robots that teach input programs are called teaching reproduction industrial robots

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