The drive system of industrial robots is divided into three categories according to the power source: hydraulic, pneumatic and electric, and can also be combined into a composite drive system by these three fundamental types according to the needs, each of which has its own characteristics.
1. Pneumatic drive system
The force drive system is generally composed of cylinders, valves, tanks and air compressors (or directly supplied by the air pressure station)| and so on, to condense the air to drive the performance organization to carry out the operation. Its advantages are convenient air source, fast action, simple structure, low cost, convenient repair, fire and explosion prevention, air slip has no impact on the environment, the defect is small operating force, large volume, and because of the air compression, speed is not easy to control, slow response, unstable action, impact. Because the origin pressure is generally only about 60MPa, this kind of robot is suitable for occasions with small gripping force requirements.
2. Hydraulic drive system
The hydraulic drive system is generally composed of hydraulic motors (various cylinders, oil motors), servo valves, oil systems, oil tanks, etc., and the oil is used to drive the performance organization to carry out operations. It is characterized by large operating force, small size, stable transmission and sensitive action, impact resistance, oscillation resistance, and good explosion-proofness. Hydraulically driven robots have a much greater gripping capacity than force drives, up to hundreds of kilograms. However, the hydraulic drive system has high requirements for sealing, and is not suitable for operation in high or low temperature occasions, and the production accuracy required is high, and the cost is also high.
3. Electric drive system
An electric drive is a moment of force that occurs using an electric motor. Drive the robot, either directly or through a deceleration organization, to achieve the desired position, velocity, and acceleration. The electric drive has the power supply is easy to obtain, no environmental pollution, fast response, large driving force, convenient signal detection, transmission and processing, can choose a variety of control plans with a variety of spiritual words, high motion accuracy and low cost, and advanced driving efficiency, which is now a driving method used most by robots. The drive motor generally uses stepper motor, DC servo motor and communication servo motor. Because the motor speed is high, it is generally necessary to choose a deceleration organization, and now some organizations have begun to choose a special motor that does not need a deceleration organization to drive directly, which can not only simplify the organization, but also improve the control accuracy.
4. Other driving methods
Choose a hybrid drive, that is, liquid, gas or electrical, gas mixed drive, etc.
The drive system of the industrial robot is a device that supplies power to each component of the fulfillment system, including two parts: the drive and the transmission organization, which are generally connected with the fulfillment organization. Drives generally have electric, hydraulic, pneumatic devices and an inductive system that combines them. Commonly used transmission structures include harmonic transmission, screw transmission, chain transmission, belt transmission and various gear transmissions.
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