1. Pneumatic drive system
The pneumatic drive system is generally composed of cylinders, valves, air tanks and air compressors (or directly supplied by the air pressure station). and so on, with compressed air to drive the execution of the organization to carry out the operation. Its advantages are convenient air source, agile action, simple structure, low cost, convenient maintenance, fire and explosion prevention, and no impact on the environment, while the disadvantage is that the operating force is small and the volume is large, and because the compressibility of the air is large, the speed is not easy to control, the response is slow, the action is unstable, and there is impact. Because the source 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 motor (various cylinders, oil motors), servo valves, oil systems, oil tanks, etc., and the compressor oil is used to drive the execution organization to carry out the operation. It is characterized by large operating force, small size, stable transmission and sensitive action, impact resistance, vibration 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 higher requirements for sealing, and is not suitable for operation in high or low temperature occasions, requiring higher production accuracy and higher cost.
3. Electric drive system
Electric drive is the use of the force generated by the electric motor to form a moment. Drive the robot directly or through a deceleration tissue to achieve the desired position, velocity, and acceleration. The electric drive has the advantages of easy access to power supply, no environmental pollution, fast response, large driving force, convenient signal detection, transmission and processing, and can choose a variety of control schemes with smart words, high motion accuracy and low cost, high driving power, etc., which is the most used driving method of the robot at present. 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 some organizations have begun to choose a special motor without 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 industrial robots is a device that provides power to each component of the execution system, including two parts: the drive and the transmission organization, which are generally integrated with the executive organization. Drives generally have electric, hydraulic, pneumatic equipment 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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