The emergence of the term "robot" in ancient times and the advent of the world's first industrial robot are both in recent decades. However, people's fantasy and pursuit of robots has a history of more than 3,000 years. Humans hope to create a human-like machine that can complete various tasks in place of humans. During the Western Zhou Dynasty, Yanshi, a skilled craftsman in my country, developed an actor who was good at singing and dancing. This was the earliest recorded robot in my country. In the late Spring and Autumn Period, Lu Ban, a famous carpenter in my country, was also an inventor in machinery. According to the "Mo Jing", he once made a wooden bird that could fly in the air for "three days without falling", which reflected the spirit of the working people of our country. Smart and wise. In the 2nd century BC, the ancient Greeks of Alexander's time invented the most primitive robot, the automaton. It is a moving statue powered by water, air and steam pressure. It can open doors on its own and sing with the help of steam. In the Han Dynasty 1800 years ago, the great scientist Zhang Heng not only invented the seismometer, but also invented the gili drum cart. Every time the drum cart travels one mile, the wooden man on the car beats the drum once, and every ten miles the bell strikes. During the Three Kingdoms period of the Later Han Dynasty, Zhuge Liang, the Prime Minister of Shu, successfully created the "Wooden Ox and Flowing Horse" and used it to transport military supplies and support frontline wars. In 1662, Japan's Takeda Omi used clock technology to invent an automatic machine doll and performed it at Dotonbori in Osaka. In 1738, the talented French technician Jack de Waxon invented a robotic duck that could quack, swim and drink, eat and excrete. Waxon's original intention was to mechanize biological functions for medical analysis. Among the automatic dolls at that time, the most outstanding ones were the Swiss watchmaker Jack Dauros and his son Leigh Louis Dauros. In 1773, they successively launched automatic writing dolls, automatic playing dolls, etc. The automatic dolls they created were made using the principles of gears and clockwork. Some of them draw with brushes and colors, and some hold goose feathers dipped in ink to write. Their structures are ingenious and their costumes are gorgeous. They were very popular in Europe. Due to the technical limitations of the time, these dolls were actually giant toys one meter tall. The earliest robot preserved today is a girl doll in the Nusatier Historical Museum in Switzerland. It was made two hundred years ago. The ten fingers of its two hands can press the keys of the organ to play music. It is still played regularly today. For visitors to enjoy, it shows the wisdom of ancient people. In the mid-19th century, automatic dolls were divided into two schools, namely the science fiction school and the mechanical production school, and each found its own place in literature, art and modern technology. In 1831, Goethe published "Faust" and created the artificial human being "Homicide"; in 1870, Hoffmann published the work "Coppelia" with an automatic doll as the protagonist; in 1883, Collodi's "Puppet" "Adventures" came out; "The Eve of the Future" came out in 1886. In terms of mechanical manufacturing, Moore built the "Steam Man" in 1893. The "Steam Man" relied on steam to drive its legs to move around in a circle. After entering the 20th century, the research and development of robots received more attention and support, and some practical robots came out one after another. In 1927, Wentzley, an engineer from the Westinghouse Company in the United States, built the first robot "telegraph box" and in Displayed at the World's Fair in New York. It is an electric robot equipped with a radio transmitter that can answer some questions, but the robot cannot move. In 1959, the first industrial robot (programmable, circular coordinate) was born in the United States, ushering in a new era of robot development. Modern robot research began in the mid-20th century, and its technical background is the development of computers and automation, as well as the development and utilization of atomic energy. Since the advent of the first digital electronic computer in 1946, computers have made amazing progress, developing towards high speed, large capacity, and low price. The urgent need for mass production promoted the progress of automation technology, and one of the results was the birth of CNC machine tools in 1952. Research on control and mechanical parts related to CNC machine tools has laid the foundation for the development of robots. On the other hand, the harsh environment of atomic energy laboratories requires certain operating machinery to handle radioactive materials instead of humans.
Against the background of this demand, the U.S. Atomic Energy Commission's Argonne Research Institute developed a remote-controlled manipulator in 1947, and a mechanical master-slave manipulator in 1948. In 1954, Dai Vol in the United States first proposed the concept of industrial robots and applied for a patent. The key point of this patent is to use servo technology to control the joints of the robot and use human hands to teach the robot movements, so that the robot can record and reproduce the movements. This is the so-called teaching reproduction robot. Almost all existing robots adopt this control method. The earliest practical models (teaching reproduction) of robot products were the "VERSTRAN" launched by the American AMF Company in 1962 and the "UNIMATE" launched by the UNIMATION Company. The control methods of these industrial robots are roughly similar to CNC machine tools, but their appearance characteristics are very different. They are mainly composed of human-like hands and arms. In 1965, MIT's Robots demonstrated the first robot system with a vision sensor that could identify and locate simple building blocks. In 1967, Japan established the Artificial Hand Research Association (now renamed the Biomimetic Mechanism Research Association), and the first Japanese Robotics Academic Conference was held in the same year. In 1970, the first International Industrial Robot Academic Conference was held in the United States. After 1970, robot research became rapidly and widely popularized. In 1973, Richard Haun of Cincinnati Milacron built the first industrial robot controlled by a small computer. It was hydraulically driven and could lift a payload of up to 45 kilograms. It was not until 1980 that industrial robots became truly popular in Japan, so that year was called the “Year of Robots”. Subsequently, industrial robots have experienced tremendous development in Japan, and Japan has also won the reputation of "the kingdom of robots". With the rapid development of computer technology and artificial intelligence technology, robots have greatly improved in function and technical level. Mobile robots and robot vision and touch technologies are typical representatives. Due to the development of these technologies, the extension of the robot concept has been promoted. In the 1980s, systems with the ability to feel, think, make decisions and act were called intelligent robots, which is a general concept with a wide range of meanings. This concept not only guides the research and application of robot technology, but also gives robot technology a huge space for the development of deep and wide. Underwater robots, space robots, aerial robots, ground robots, micro robots and other robots for various purposes have come out one after another. , many dreams became reality. The diffusion and penetration of robot technology (such as sensing technology, intelligent technology, control technology, etc.) into various fields has formed a variety of new machines - robotic machines.