Industrial robots are composed of three parts and six subsystems, which can be divided into mechanical structure system, drive system, perception system, robot-environment interaction system, human-computer interaction system and control system.
1. Mechanical structure system
From the perspective of mechanical structure, industrial robots are generally divided into tandem robots and parallel robots. The characteristic of a tandem robot is that the movement of one axis will change the coordinate origin of another axis, while the movement of one axis of a parallel robot will not change the coordinate origin of another axis. In the early stage, industrial robots are all connected with a series mechanism. The parallel mechanism is defined as a closed-loop mechanism in which the moving platform and the fixed platform are connected by at least two independent motion chains, the mechanism has two or more degrees of freedom, and is driven in parallel.
2. Drive system
The drive system is a device that supplies power to the mechanical structure system. According to the different power sources, the transmission mode of the drive system is divided into four types: hydraulic, pneumatic, electric and mechanical. In the early stage, the industrial robot was hydraulically driven. Because the hydraulic system has problems such as leakage, noise and low-speed instability, and the power unit is bulky and valuable, only large heavy-duty robots, parallel processing robots and some special application occasions use hydraulically driven industrial robots.
3. Perception system
The robot perception system transforms the various internal condition information and environmental information of the robot from the signal to the data and information that can be understood and used by the robot itself or between the robots, in addition to the demand perception of the mechanical quantity related to its own operating conditions, such as displacement, speed and force, etc., visual perception skills are an important aspect of the perception of industrial robots. The visual servo system uses visual information as a feedback signal to control and adjust the position and posture of the robot. Machine vision systems are also widely used in all aspects of quality inspection, workpiece identification, food sorting, and packaging. The perception system is composed of an internal sensor module and an external sensor module, and the use of intelligent sensors improves the mobility, adaptability and intelligence level of the robot.
4. Robot-environment interaction system
The robot-environment interaction system is a system that completes the mutual communication and coordination between the robot and the equipment in the external environment. The robot and external equipment are integrated into a functional unit, such as a processing unit, a welding unit, an installation unit, etc. Of course, it can also be a functional unit that integrates multiple robots into one to fulfill the messy mission.
5. Human-computer interaction system
The human-computer interaction system is a device for humans to communicate with robots and participate in robot control. For example: computer specification terminals, command consoles, information display boards, risk signal alarms, etc. [3]
6. Control system
The mission of the control system is to assign the robot's fulfillment mechanism to complete the specified movements and functions according to the robot's operation instructions and the signals fed back from the sensors. If the robot does not have information feedback characteristics, it is an open-loop control system; With the characteristics of information feedback, it is a closed-loop control system. According to the control principle, it can be divided into program control system, adaptive control system and artificial intelligence control system. According to the way of manipulation movement, it can be divided into point control and continuous trajectory control.
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