Industrial robots refer to multi-joint manipulators or multi-degree-of-freedom robots for the industrial field. In addition to industrial robots, special robots are a variety of advanced robots used in non-manufacturing industries and serving human beings, including: service robots, underwater robots, entertainment robots, military robots, agricultural robots, etc. In special robots, some branches are developing quickly and have a tendency to become independent systems, such as service robots, underwater robots, military robots, micro-operation robots, etc.
1. Industrial robots are divided into four types according to the movement mode of the arm.
The Cartesian arm can move along three Cartesian coordinates; The arm of the cylindrical coordinate type can be lifted, reversed and elastically moved; Spherical arms can be reversed, pitched and elastic; Articulated arms have multiple rotating joints.
2. According to the control function of the executive organization movement, the industrial robot can be divided into point type and continuous track type.
The point type only controls the precise positioning of the execution organization from one point to another, and is suitable for machine tool loading and unloading, spot welding, general transfer, loading and unloading, etc.; The continuous track type can control the execution organization to move according to a given track, and is suitable for continuous welding and painting operations.
3. According to the program input mode, industrial robots are divided into two types: programming input type and teaching input type.
The programming input type is to transmit the program file that has been programmed on the computer to the robot control cabinet through RS-232 serial port or Ethernet and other communication methods.
There are two teaching methods of teaching input type: one is that the operator uses a manual controller (teaching operation box) to transmit the command signal to the drive system, so that the executive organization performs the operation sequence and motion track according to the requirements; The other is that the operator directly leads the execution organization and performs it according to the required action sequence and motion track.
At the same time of the teaching process, the information of the operation program is actively stored in the program memory, and when the robot is actively operating, the control system detects the corresponding information from the program memory, and transmits the command signal to the driving organization, so that the executive organization reproduces the various actions of the teaching. An industrial robot that teaches the input program is called a teach-in reproducible industrial robot.
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