Industrial robot is a kind of can simulate part of the action of human hands and arms, in accordance with the predetermined procedures, tracks and other requirements, to complete the grasping, handling of workpieces or manipulating things of automation equipment, is a very promising mechatronics typical products, will be completed intelligent, multi-functional, flexible automated production, improve product quality, replace people in harsh environmental conditions to play a significant role.
Composition of industrial robots
Mechanical system
The mechanical system is a mechanical part that completes the movement required to grasp the workpiece or thing, and includes the following parts: (1) the hand is the part that the industrial robot directly touches with the workpiece or thing, and is used to complete the part of holding the workpiece or thing, and some industrial robots directly install things (such as welding guns, spray guns, containers) in the hand position, and no longer set the hand;
(2) The wrist is a part connecting the hand and the arm, which is mainly used to determine the direction and posture of the hand operation and appropriately expand the scale of the arm action;
(3) The arm is a part that supports the wrist and hand and completes the large-scale movement;
(4) The fuselage is used to support the arm, equipment driving equipment and other equipment parts;
(5) The walking organization is an organization that expands the scale of industrial robot activities, some are specialized walking equipment, and some are trajectory and roller organizations.
Drive system
The effect of the drive system is to supply power to the fulfillment elements. Depending on the drive source, there are four transmission methods of the drive system: hydraulic, pneumatic, electric and mechanical.
Control system
The control system is the command system of industrial robots. It controls the movement of industrial robots according to regular programs, can memorize various command information (such as action sequence, motion trajectory, movement speed and time, etc.), and announce instructions to each fulfillment element according to the command information. If necessary, the robot's movements can also be monitored, and an alarm signal can be announced in the event of an error or malfunction.
Detect the sensing system
It mainly detects the movement orientation and state of the industrial robot fulfillment system, and feeds back the practical orientation of the fulfillment system to the control system at any time, compares it with the set azimuth, and then adjusts it through the control system, so that the fulfillment system reaches the set orientation state with a certain accuracy.
Artificial intelligence system
The system mainly endows the industrial robot with five senses to complete the automatic identification and adaptive operation of the workpiece by the robot.
The primary parameters of industrial robots
Grip portion
That is, the arm strength, the grip component indicates the load ability of the robot. This parameter is related to the speed of the robot, which generally refers to the amount of workpiece that can be grasped at normal operating speed. When the robot can run at an adjustable speed, the maximum weight that can be held at low speed is larger than that at high speed. For safety reasons, the amount of workpiece that can be held at high speed is the target, and the operating speed is always indicated at this time.
Speed of movement
Motion speed is an important technical parameter that reflects the function of the robot. It is closely related to the robot's gripping component, positioning accuracy and other parameters, and it also directly affects the robot's motion cycle.
degree of freedom
The more degrees of freedom an industrial robot has, the more sensitive and adaptable it is, but the more chaotic the structure. Generally, it has 4-6 degrees of freedom to meet the application requirements.
Positioning accuracy
Positioning accuracy, that is, repeatable positioning accuracy, is another important goal to measure the quality of robot work. The level of positioning accuracy depends on the azimuth control method and the manufacturing accuracy and stiffness of the moving parts themselves, and is also closely related to the holding weight and movement speed.
Programming and storage capacity
The technical parameters are used to clarify the control ability of the robot, and the storage capacity is large, so it is highly adaptable, versatile, and has a strong ability to engage in messy operations.
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