The following story tells how robots in China were successfully researched and manufactured.

The hero of the story is Yu Taitai. 1979 spring, he just turned 30, Beijing Institute of Iron and Steel will

He was sent to Japan to study as a graduate student at Kyushu University of Technology. At this time, Japanese robotics has

Very developed. Our country, for various reasons, once had the upsurge of developing robots.

Moreover, the whole country has spent a lot of money, and few factories have really applied it. I

The development of robots in China has entered a low ebb.

It is in this situation that Yu Taitai went to Japan to study robotics theory. His tutor is

Professor Tadashi Yamashita, a famous robot expert.

Yu Datai is an ambitious young man. He saw the robot technology in his own country.

The gap has also touched the self-esteem of Chinese people. After three years of hard work, all subjects of 13 got "excellent".

Received a master's degree in engineering and entered the robot research room of Yaskawa Electric Corporation of Japan for internship. This company

Is a world-famous robot manufacturing company.

You see, industrial robots are not much different from ordinary machines in appearance. They are designed and manufactured robots.

Need a lot of mechanical, electronic, control, computer, information processing and other scientific knowledge. robot

It belongs to high technology, and many things are kept secret from each other. Yu Taitai is a conscientious person, in order to return to China.

After developing the robot, he bought it with the money saved from living expenses and his salary for half a year.

Thousands of materials and books, and subscribed to three kinds of robotics magazines published in Japan. One subscription is five years!

Before he set foot on the land of the motherland again, he put a fiery heart on the robot.

After returning to China, Ms. Yu started to develop robots in China. However, make a new one.

Real "working" robots are not that simple. Not only to find users, but also to

It costs hundreds of thousands of yuan, needs the cooperation of many experts and technicians, and it will take several years.

Time! To do such a big "project", we must first do a full investigation.

He traveled all over many provinces and cities from south to north and from east to west, and entered many factories and production research institutions.

Conducted investigation and research. At this time, on the land of our country, the research on robots has once again set off a climax.

198365438+1October1Sunday afternoon, Beijing institute of iron and steel held an industrial robot research and manufacturing technology.

Hold a technical demonstration meeting to review the application report submitted by Yu Taitai. The manufacturing scheme they put forward is very clear.

Structure, which is a popular international structure form in 1980s. Because articulated robots have many advantages,

It can move flexibly in all directions at high speed, and the wrist can reach a certain point in space in many ways.

Method, the working space is also large. However, there are also great difficulties: joint robots have shoulders, elbows and wrists.

The whole arm rotates, and each rotation requires a motor acceleration and deceleration mechanism. In order that the fingers of the manipulator can

Hold a certain weight, have a certain speed and acceleration, and don't tremble during the movement.

Accurate positioning requires the arm, forearm and wrist to have a certain quality, so that the motor that drives each joint is.

It's bigger. The motor of elbow joint and wrist joint should not be placed directly on each joint, but on the fuselage.

Close, so as to ensure that the forearm and wrist are not too heavy, you can save some "strength." However, this problem must be solved.

Using tie rods and chains to solve the transmission problem between motors and joints has low transmission efficiency, so it is also very large.

This problem needs to be solved. At that time, direct-drive torque motor was rarely used, so the design of transmission mechanism required precision.

Do analysis and calculation to find out the best scheme.

Many leaders, experts and professors attended the program review meeting. There was a lot of encouragement at the meeting.

Questioned, an expert humorously said:

"Yu Taitai, you want to make joint robots. I think you must be careful that robots don't get arthritis. "

Yes, it is difficult to build a world-class robot. As the saying goes, "Look, yes."

Simple, difficult to do. "

Difficult, there are many difficulties in manufacturing new industrial robots, just like standing in the way of robot development.

A "mountain" However, there are many scientific fools in China who dare to move this "mountain". Dangyuanling

When Mrs. Yu was allowed to form a cabinet freely, his classmates and teachers came, as well as associate professors, lecturers and female generals.

The newly graduated students came and formed a "mountain moving team" of more than a dozen people.

It's really like moving mountains. You should learn and master the necessary theoretical knowledge of robots in a short time.

In particular, to understand "software information" without any explanation is really like reading a gobbledygook. That year, that day

When I handed these materials to Mrs. Yu, I said meaningfully, "This is a sealed book, please take it back.

Go, I don't understand. "-they read gobbledygook while learning Japanese, just to understand it and get it.

Make a name for yourself.

Is it possible to bypass the obstacle of "software data"? No, because this robot has

Five degrees of freedom, that is, there are five independent movements, that is, it has five joints, each joint

There is an electric motor. In order to make the robot paw walk two curves in space, when people "teach" it, it often

Reflect the point where the gripper (also called manipulator) will walk in space and tell it. Other points (there are many)

Many points can be connected into a smooth curve) is calculated by the robot computer. It's even harder to put

The points in the paw space become the data of how each joint should move, and the rise and fall of each joint must be calculated by computer.

What's the angle and speed? This is a difficult problem of "kinematics of spatial mechanism". What else,

All joints of the robot are driven by motors. How many signals are added to each motor for control?

Let the joints move just right? This requires a so-called "dynamic" calculation, taking into account each bar.

Many factors, such as mass, length, speed, acceleration, friction and so on, are similar.

When it's complicated. In addition, there are many problems to be considered, such as starting, stopping, action sequence, safety and so on. these

Everything is done by controlling equipment (mainly computers). However, people's ideas, calculations

Methods, many problems, the computer does not understand, it only knows its own "language." Communication between people and computers

This information requires knowledge of a high-level language, which is software. These questions are all.

"Software information" absolutely needed for designing robots. Software information is very important for different robots.

It's different.

Moving the "mountain" requires hard work! In order to design the robot as soon as possible, in 1983.

In the hot summer of 2008, they struggled in a guest house in Nanjing, one of the "three big stoves"

One month, I took out the original design drawings.

Moving "mountains" means digging mountains every day, not afraid of eternity, only one thought: success!

Utatai and his colleagues are such people. The number of electronic computers for robots has changed from eight.

Change to 16 bit; In order to make the robot "brain" catch up with the advanced level in the world, they revised the scheme three times.

Their belief is: "To catch up with the world robot technology level, we can only start from a high starting point and go our own way."

All right. "They walked on this road step by step for two years!

The biggest problem in developing industrial robots is money! Technical Services of Computing Center of China Academy of Sciences

The company generously took out 300,000 yuan and said, "We invest, you do it, and count me in if you fail."

Students pay tuition for nothing, and they won't build dormitories! "The dean of the Institute of Iron and Steel has only $654.38 million+.

In exchange, they were given 30 thousand to solve the problem of imported equipment. With these "gods", how do they live?

Is it impossible to make robots?

Later, they succeeded. They were very experienced: "The secret of our success is 1+ 1 > 2."

-where there is "internal friction", one person plus one person is not equal to two people. In their united collective,

One plus one is not equal to two, but greater than two. They have no "internal friction", but they work together in Qi Xin and use their brains.

Do it! Have a plenty of mutual help and understanding!

They succeeded, and their BJM (Beijinger)-1 arc welding industrial robot passed smoothly.

Successfully passed the technical appraisal and successfully undertook the welding of the automobile production line of Nanjing Automobile Factory.

Work, not only improved the quality of products, but also improved the working conditions of workers, and achieved economic benefits and

Social welfare.

They succeeded, and based on them, they quickly developed into a robot research institute, Yudatai.

Be appointed as a director. He became a famous figure in the field of robotics.