Industrial robots are generally used in industrial manufacturing, automobile manufacturing, electrical appliances, food, etc., can replace repeated mechanical operations, high efficiency, is a machine that achieves various functions by its own power and control capabilities.
Understanding the application of industrial robots, the components are beneficial, it can replace repeated mechanical operations, high efficiency, is a machine that realizes various functions by its own power and control capabilities!
Industrial robots are generally used in industrial manufacturing, automobile manufacturing, electrical appliances, food, etc., can replace repeated mechanical operations, high efficiency, is a machine that achieves various functions by its own power and control capabilities. It can accept human command or run in accordance with pre-programmed procedures. Now we introduce the main components of industrial robots.
1. Main body
The main body is the base and actuator, including the arm, wrist and hand, and some robots also have walking mechanisms. Industrial robots have 6 degrees of freedom or more. The wrist usually has 1 to 3 degrees of freedom of movement; the drive system includes a power device and a transmission mechanism for the actuator to produce corresponding actions; the control system is based on the input program. The drive system and actuators send out command signals and control them.
2. Drive system
The driving system of industrial robots is divided into three categories according to power source: hydraulic, pneumatic and electric. These three basic types can also be combined into a compound drive system as needed. Each of these three basic drive systems has its own characteristics. The current mainstream is the electric drive system.
Due to the low inertia, high torque AC and DC servo motors and their supporting servo drives (AC inverters, DC pulse width modulators) are widely used. This type of system does not require energy conversion, is easy to use, and has flexible control. Most motors need to be installed behind the precision transmission mechanism: reducer.
It uses a gear speed converter to reduce the number of revolutions of the motor to the desired number of revolutions and obtain a larger torque device to reduce the speed and increase the torque. When the load is large, the power of the servo motor is blindly increased. It is not cost-effective, and the output torque can be increased by a reducer within a suitable speed range.
In addition, the servo motor is prone to heat and low-frequency vibration under low-frequency operation, and long-term and repetitive work is not conducive to ensuring its accuracy and reliable operation. The presence of a precision gear motor allows the servo motor to run at a suitable speed, increasing the rigidity of the mechanical body while outputting greater torque. There are currently two main types of reducers: harmonic reducers and RV reducers.
3. Control system
The robot control system is the brain of the robot and is the main factor that determines the function and performance of the robot. Industrial robot technology The main task of industrial robot control technology is to control the motion position, posture and trajectory, operation sequence and movement time of the industrial robot in the work space. It has the characteristics of simple programming, software menu operation, friendly human-computer interaction interface, online operation prompt and easy to use.
The controller system is the core of the robot, and relevant foreign companies implement strict seals on China. In recent years, with the development of microelectronic technology, the performance of microprocessors is getting higher and higher, while the price is getting cheaper. At present, 32-bit microprocessors of 1-2 US dollars have appeared on the market.
The cost-effective microprocessor has brought new development opportunities to robot controllers, making it possible to develop low-cost, high-performance robot controllers. In order to ensure that the system has sufficient computing and storage capabilities, the robot controllers currently use more powerful computing capabilities. It consists of ARM series, DSP series, POWERPC series, Intel series and other chips.
In addition, because the functions and performance of the existing general-purpose chips cannot fully meet the requirements of some robot systems in terms of price, performance, integration, and interface, etc., this has generated the robot system’s demand for SoC (Systemon Chip) technology, which will be specific The processor is integrated with the required interface, which can simplify the design of the peripheral circuit of the system, reduce the size of the system, and reduce the cost.
For example, Actel Company integrated the processor core of NEOS or ARM7 on its FPGA products to form a complete SoC system. In terms of robotic motion controllers, its research is mainly concentrated in the United States and Japan, and there are mature products, such as the United States DELTATAU company, Japan Peng Li Co., Ltd. and so on. Its motion controller takes DSP technology as the core and adopts an open structure based on PC.
4. End effector
The end effector is connected to the last joint of the manipulator. It is generally used to grab objects, connect with other mechanisms and perform required tasks. Robot manufacturing generally does not design or sell end effectors. In most cases, they only provide a simple gripper. The end effector is usually installed on the 6-axis flange of the robot to complete tasks in a given environment, such as welding, painting, gluing, and parts handling. These are tasks that require the robot to complete.
