1. Mechanical Structural System:
The mechanical structure system, also known as the manipulator or actuator system, is the main carrier of the robot, which is composed of a series of connecting rods, joints, etc. The mechanical system usually includes the body, base, arms, wrists, joints, and end-of-action devices, each of which has multiple degrees of freedom to form a mechanical system with multiple degrees of freedom
(1) Fuselage part - like the bed structure of the machine tool, the fuselage of the robot forms the basic support of the robot. Some fuselages are equipped with a robot walking mechanism at the bottom, which constitutes a walking robot: some fuselages can rotate around the axis to form the waist of the robot; If the fuselage does not have a walking and slewing mechanism, it constitutes a single robot arm.
(2) Pedestal - It is the basic part of the robot and plays a supporting role. The entire actuator and drive are mounted on the base. The stationary robot is directly connected to the ground foundation, and the mobile robot is installed on the mobile mechanism, which can be divided into two types: tracked and trackless.
(3) Joint—It is usually divided into sliding joints and rotating joints to achieve relative motion between the body, various parts of the arm, and end-of-end actuators.
(4) Arm – It is the part that connects the body to the wrist. It is generally composed of the upper arm, the lower arm and the wrist, which is used to complete various simple or complex actions, and it is composed of the power joints and connecting rods of the operator. It is the main moving part in the actuator structure, also known as the spindle. It is mainly used to change the spatial position of the wrist and the end-of-end actuator to meet the working space of the robot and transfer various loads to the base.
(5) Wrist - It is the part that connects the fuselage and the wrist, transmits the working load to the arm, and is mainly used to change the spatial position of the end-of-action device.
(6) End actuator - it is an important part directly mounted on the wrist, usually simulating the palm and fingers of the human hand, can be a two-finger or multi-finger claw end manipulator, and sometimes can also be a variety of work tools, such as welding guns, paint guns, etc.
2. Drive system (drive unit)
The drive system is the mechanism that drives the robotic arm of the industrial robot to move. According to the command signal sent by the control system, the robot is operated with the help of power elements, and the transmission device is installed for each joint, that is, each degree of freedom of movement, which is the drive system. Its role is to provide the driving force for the actions of various ministries and joints of the robot.
According to the different drive sources, the drive system can be divided into electric, hydraulic, pneumatic and also includes a comprehensive system that combines them for application. The drive system can be directly connected to the mechanical system, or indirectly connected to the mechanical system through timing belts, chains, gears, harmonic rotation devices, etc. Robots with low motion accuracy, heavy load or explosion-proof requirements are driven by hydraulic and pneumatic pressure, and most of the industrial robots are electrically driven, among which AC servo drive is the most widely used, and most of the driver arrangements use a joint and a drive
3. Sensory system
The sensory system usually consists of an internal sensor module and an external sensor, whose role is to obtain meaningful information from the internal and external environment and feed this information back to the control system. Internal sensors are used to detect variables such as the position and speed of each joint to provide information for the closed-loop control system. External sensors are used to detect some state variables between the robot and the surrounding environment, such as distance, proximity and contact, etc., and are used to guide the robot to easily identify objects and deal with them accordingly.
The use of smart sensors has increased the level of mobility, adaptability and intelligence of robots. The human sensory system is extremely dexterous in perceiving information from the external world, but for some special information, sensors are more efficient than the human sensory system. Industrial robots are often integrated with external equipment into a functional unit, such as processing and manufacturing units, welding units, assembly units, etc.; It can also be a functional unit of multiple robots, multiple machine tools or equipment, multiple parts storage devices, etc., which are integrated into one to perform complex tasks.
4. Control system
The task of the control system is to control the actuator of the robot according to the operation instruction program of the robot and the signal fed back from the sensor, so that it can complete the specified movement and function.
If the robot does not have information feedback features, it is an open-loop control system; With information feedback characteristics, 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 form of control movement, it can be divided into point control system and continuous trajectory control system.
The robot controller is a device that controls the robot to complete certain actions and tasks according to instructions and sensor information, which is the main factor that determines the function and performance of the robot, and is also the fastest updated and developed part of the robot system. Its basic functions are: teaching function, memory function, position servo function, coordinate setting function, contact function with peripheral equipment, sensor interface, fault diagnosis safety protection function, etc.
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