Generally speaking, industrial robots are composed of three major parts and six subsystems. The three major parts are the mechanical part, the sensing part and the control part. The six subsystems can be divided into mechanical structure system, drive system, perception system, robot-environment interaction system, human-computer interaction system and control system.
1. Mechanical structure system
From the perspective of mechanical structure, industrial robots are generally divided into tandem robots and parallel robots. The characteristic of tandem robots is that the movement of one axis will change the coordinate origin of another axis, while the movement of one axis of parallel robots will not change the coordinate origin of another axis. In the early days, industrial robots were all made of tandem tissues. Parallel organization is defined as a closed-loop organization in which the dynamic channel and the fixed channel are connected by at least two independent motion chains, the organization has two or more degrees of freedom, and is driven by the parallel method. There are two components of the parallel tissue, which are the wrist and the arm. The area of movement of the arm has a great impact on the space of movement, and the wrist is the connecting part between the east and the west and the main body. Compared with tandem robots, parallel robots have the advantages of high stiffness, stable structure, large bearing capacity, high micro-motion accuracy and small motion load. In terms of azimuth solving, the positive solution of the tandem robot is simple, but the reverse solution is not easy. On the contrary, parallel robots have difficult forward solutions and very simple reverse solutions.
2. Drive system
A drive system is a device that supplies power to a mechanical structural system. According to the different power sources, the transmission methods of the drive system are divided into four types: hydraulic, pneumatic, electric and mechanical. Early industrial robots were hydraulically driven. Due to the problems of leakage, noise and low speed instability in the hydraulic system, and the power unit is clumsy and expensive, only large heavy-duty robots, parallel processing robots and some industrial robots with hydraulic drive are now needed. Pneumatic drive has the advantages of high speed, simple architecture, easy maintenance, and low price. However, the operating pressure of pneumatic equipment is low, and it is not easy to accurately position, so it is generally only used for the drive of industrial robot end effectors. Pneumatic grippers, rotary cylinders and pneumatic suction cups are used as end effectors for the gripping and installation of workpieces with medium to small loads. Electric drive is now the most used drive method, its characteristics are power access convenient, fast response, large driving force, signal detection, transmission, processing convenience, and can choose a variety of sensitive control methods, the drive motor generally uses stepper motor or servo motor, now there is also the choice of direct drive motor, but the cost is higher, the control is also more messy, and the reducer matching the motor generally chooses harmonic reducer, cycloidal pin wheel reducer or planetary gear reducer. Due to the large demand for linear drives in parallel robots, linear motors have been widely used in the field of parallel robots.
3. Perception system
In addition to the need to perceive the mechanical quantity related to its own operating conditions, such as displacement, speed and force, visual perception skills are an important aspect of industrial robot perception. The visual servo system uses visual information as a response signal to control and adjust the orientation and attitude of the robot. Machine vision systems are also widely used in all aspects of quality inspection, workpiece identification, food sorting, and packaging. The perception system is composed of an internal sensor module and an external sensor module, and the use of intelligent sensors improves the mobility, adaptability and intelligence level of the robot.
4. Robot-environment interaction system
The robot-environment interaction system is a system that realizes the interconnection and coordination between robots and equipment in the external environment. The robot and external equipment are integrated into a functional unit, such as a processing unit, a welding unit, an installation unit, etc. Of course, it is also possible to integrate multiple robots into one functional unit to perform messy missions.
5. Human-computer interaction system
The human-computer interaction system is a device for humans to connect with robots and participate in robot control. For example: computer specification terminals, command consoles, information display boards, risk signal alarms, etc.
6. Control system
The mission of the control system is to control the robot's execution organization to complete the specified movements and functions according to the robot's operation instructions and signals reflected from the sensors. If the robot does not have the characteristics of information response, it is an open-loop control system; If it has the characteristics of information response, 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 manipulation movement, it can be divided into point control and continuous trajectory control.
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