[Analysis] The basic structure of industrial robots
Industrial robots are multi-joint robots or multi-degree-of-freedom robots for the industrial field. They appear to liberate the labor force and improve the production efficiency of enterprises. The basic structure of industrial robots is the basis for the realization of robot functions. Let us look at the structural composition of industrial robots.
Industrial robot
Most modern industrial robots are composed of three major systems and six major systems.
Mechanical part
The mechanical part is the flesh and blood part of the robot, which is what we often say about the robot body. This part can be mainly divided into two systems:
(1) Drive system
In order for the robot to operate, it is necessary to install the sensing device and the transmission specialist for each joint. This is the drive system. Its role is to provide the motive force for the movement of various parts of the robot and each joint. The drive system transmission part can be a hydraulic transmission system, an electric transmission system, a pneumatic transmission system, or an integrated transmission system in which several systems are combined.
(2) Mechanical structural system
The industrial robot mechanical structure is mainly composed of four parts: the fuselage, the arm, the wrist and the hand. Each part has a certain degree of freedom, which constitutes a multi-free mechanical system. The end effector is an important part that is directly attached to the wrist. It can be a multi-finger gripper or a working tool such as a spray gun or a welding tool.
2. Feeling part
The feeling part is like the facial features of human beings, providing a feeling for the robot work and helping the robot work more accurately. This part can be mainly divided into two systems:
(1) feeling system
The sensory system consists of an internal sensor module and an external sensor module for obtaining meaningful information in the internal and external environmental conditions. Smart sensors can improve the maneuverability, adaptability and intelligence of robots. For some special information, the sensitivity of the sensor can even exceed the human sensory system.
(2) Robot-environment interaction system
The robot-environment interaction system is a system that enables industrial robots to communicate and coordinate with devices in the external environment. The industrial robot is integrated with external equipment into a functional unit such as a manufacturing unit, a welding unit, an assembly unit, and the like. It is also possible to integrate multiple robots, multiple machine tools or multiple part storage devices into one functional unit that can perform complex tasks.
3. Control section
The control part is equivalent to the brain part of the robot, and the movement of the robot can be controlled directly or manually. The control part can also be divided into two systems:
(1) Human-computer interaction system
The human-computer interaction system is a device that allows an operator to participate in robot control and communicate with the robot, for example, a standard terminal of a computer, an instruction console, an information display panel, a danger signal alarm, a teaching box, and the like. Simply put, the system can be divided into two parts: the command given system and the information display device.
(2) Control system
The control system mainly performs the specified movements and functions according to the robot's work instruction program and the actuator governed by the signal fed back from the sensor. According to the control principle, the control system can be divided into three types: program control system, adaptive control system and artificial intelligence control system. According to the form of motion, the control system can be divided into two categories: control system and trajectory control system.
Through the coordinated operation of these three major systems, the industrial robot has become a high-precision mechanical equipment, featuring high work precision, high stability and fast working speed, which has laid a foundation for enterprises to improve production efficiency and product quality. basis.
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