目前，国际上从应用环境出发将机器人分为两类：制造环境下的工业机器人和非制造环境下的服务与仿人型机器人。我国的机器人从应用环境出发，将机器人也分为两大类，即工业机器人和特种机器人。这和国际上的分类是一致的。

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.

　　工业机器人是指面向工业领域的多关节机械手或多自由度机器人。特种机器人则是除工业机器人之外的、用于非制造业并服务于人类的各种机器人，包括：服务机器人、水下机器人、娱乐机器人、军用机器人、农业机器人等。在特种机器人中，有些分支发展很快，有独立成体系的趋势，如服务机器人、水下机器人、军用机器人、微操作机器人等。

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、工业机器人按臂部的运动形式分为四种。

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

　　直角坐标型的臂部可沿三个直角坐标移动；圆柱坐标型的臂部可作升降、回转和伸缩动作；球坐标型的臂部能回转、俯仰和伸缩；关节型的臂部有多个转动关节。

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、工业机器人按执行机构运动的控制机能，又可分点位型和连续轨迹型。

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.

　　点位型只控制执行机构由一点到另一点的准确定位，适用于机床上下料、点焊和一般搬运、装卸等作业；连续轨迹型可控制执行机构按给定轨迹运动，适用于连续焊接和涂装等作业。

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、工业机器人按程序输入方式区分有编程输入型和示教输入型两类。

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

　　编程输入型是将计算机上已编好的作业程序文件，通过RS-232串口或者以太网等通信方式传送到机器人控制柜。

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.

　　示教输入型的示教方法有两种：一种是由操作者用手动控制器（示教操纵盒），将指令信号传给驱动系统，使执行机构按要求的动作顺序和运动轨迹操演一遍；另一种是由操作者直接领动执行机构，按要求的动作顺序和运动轨迹操演一遍。

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.

　　在示教过程的同时，工作程序的信息即自动存入程序存储器中在机器人自动工作时，控制系统从程序存储器中检出相应信息，将指令信号传给驱动机构，使执行机构再现示教的各种动作。示教输入程序的工业机器人称为示教再现型工业机器人

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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