1. Electric drive equipment
The energy source of the electric drive equipment is simple, the speed change scale is large, the efficiency is high, and the speed and azimuth accuracy are high. However, they are often associated with deceleration equipment, and direct drive is more difficult.
Electric drive equipment can be divided into direct current (DC), alternating current (AC) servo motor drive and stepper motor drive. DC servo motor brushes are easy to wear and tear and spark easily. Brushless DC motors are also becoming more and more widely used. The stepper motor drive is mostly open-loop control, which is simple but not large, and is mostly used in low-precision and low-power robot systems.
2. Hydraulic drive
It is completed by high-precision cylinder block and piston, and linear motion is completed by the relative motion of cylinder block and piston rod.
Advantages: high power, can omit the need to reduce the equipment and directly connect with the driven rod, compact structure, good rigidity, fast response, servo drive has high precision.
Disadvantages: It is necessary to add a hydraulic source, which is easy to produce liquid leakage, and is not suitable for high and low temperature occasions, so hydraulic drive is now mostly used in ultra-high-power robot systems.
3. Pneumatic drive
The structure of the pneumatic drive is simple, clean, active and has a cushioning effect. However, compared with hydraulic drive equipment, the power is smaller, the stiffness is poor, the noise is large, and the speed is not easy to control, so it is mostly used for point control robots with low precision.
(1) It has the characteristics of fast speed, simple system structure, convenient repair and low price. It is suitable for robots with medium and small loads. However, due to the difficulty of completing servo control, it is mostly used in robots for program control, such as loading, unloading and stamping robots.
(2) In most cases, it is used to complete two-position or limited point control of small and medium-sized robots.
(3) Most of the control equipment now uses programmable manipulators (PLC manipulators). In flammable and explosive occasions, pneumatic logic elements can be used to compose control equipment.
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