Do you know industrial robots?

Do you know industrial robots? This article introduces the industrial robot system, classification, characteristics, etc. in detail, read the complete article, you will know!
main body

The main machine is the machine base and the actuator, including the big arm, the forearm, the wrist and the hand, which constitute a multi-degree-of-freedom mechanical system. Some robots have another walking mechanism. Industrial robots have 6 degrees of freedom and even more wrists usually have 1 to 3 degrees of freedom of movement.

Drive System

The driving system of industrial robots is divided into three categories: hydraulic, pneumatic and electric according to the power source. According to requirements, these three types of drive systems can be combined and combined, or indirectly driven by mechanical transmission mechanisms such as timing belts, gear trains, and gears.

The drive system has a power device and a transmission mechanism to implement the corresponding actions of the mechanism. These three types of fundamental drive systems have their own characteristics, and the current mainstream is the electric drive system.

Due to low inertia, large torque AC and DC servo motors and their supporting servo drives (exchange frequency converters, DC pulse width modulators) are generally accepted. This type of system does not require energy conversion, is easy to use, and has sensitive control.

Most motors need to install a fine transmission mechanism: reducer. The gear uses a gear rate converter to decelerate the motor's reversal number to the desired reversal number, and obtain a device with a larger torque, thereby reducing the speed, adding torque, and blindly increasing the servo motor when the load is large The power is very cost-effective, and can further output torque through the reducer within the appropriate speed range.

Servo motors are prone to heat generation and low-frequency vibration under low-frequency operation. Long-term and repetitive work is not conducive to ensuring its accuracy and reliable operation. The existence of the fine reduction motor enables the servo motor to run at an appropriate speed, which strengthens the rigidity of the machine body while outputting greater torque. There are two mainstream reducers today: harmonic reducers and RV reducers.

Control System

The robot control system is the brain of the robot and the main element that determines the functions and functions of the robot. The control system takes back the command signal and controls the driving system and the implementing agency according to the input program.

The main task of industrial robot control technology is to control the range of motion, posture and trajectory, and action time of the industrial robot in the workspace. It has the characteristics of simple programming, software menu operation, friendly human-computer interaction interface, online operation prompt and convenient operation.

The controller system is the center of the robot, and relevant foreign companies are tightly closed to our experiments. Over the years, with the development of microelectronics technology, microprocessors have become more and more functional, and their prices have become cheaper and cheaper. Nowadays, 32-bit microprocessors worth 1-2 dollars have appeared on the market.

Cost-effective microprocessors have brought new development opportunities for robot controllers, making it possible to develop low-cost, high-function robot controllers. In order to make the system have sufficient computing and storage capabilities, the robot controllers are now composed of stronger ARM series, DSP series, POWERPC series, Intel series and other chips.

Perception system

It is the composition of the internal sensor module and the external sensor module to obtain meaningful information from the internal and external environmental status.

Internal sensors: sensors used to detect the state of the robot itself (such as the angle between the arms), mostly sensors that detect position and angle. Specifically: position sensor, position sensor, angle sensor, etc.

External sensor: a sensor used to detect the environment (such as detecting objects and distance from objects) and conditions (such as detecting whether the grabbed objects have fallen) Specifically, there are distance sensors, vision sensors, and force sensors.

The use of intelligent sensor systems has improved the robot's mobility, practicability, and intelligent standards. The human perception system is robot dexterous for information about the outside world. However, for some licensed information, sensors are more effective than human systems.

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