Industrial robots are composed of three fundamental parts: the main body, the drive system and the control system. The main body is the machine base and executive tissue, including arms, wrists and hands, and some robots also have walking tissues. Most industrial robots have 3-6 degrees of freedom of movement, during which the wrist usually has 1-3 degrees of freedom of movement; The drive system comprises a power unit and a transmission organization to make the executive organization perform corresponding actions; The control system is to send command signals to the drive system and the executive organization according to the input program, and control it.
Industrial robots are divided into four types according to the movement method 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 rolling joints.
According to the control function of the industrial robot to perform the organization movement, it can be divided into point type and continuous track type. The point type only controls the accurate positioning of the execution organization from one point to another, and is suitable for machine tool loading and unloading, spot welding, general handling, loading and unloading and other operations; 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.
According to the program input method, there are two types of industrial robots: programming input type and teaching input type. The programming input type is to transfer the program file that has been programmed on the computer to the robot control cabinet through RS232 serial port or Ethernet communication methods.
There are two teaching methods of teaching input type: one is that the operator uses a manual controller (teaching control box) to transmit the command signal to the drive system, so that the executive organization performs the action 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.
Industrial robots with tactile sense, force sense or simple vision can work in a more chaotic environment; If it has the recognition function or further adds adaptive and self-learning functions, it will become an intelligent industrial robot. It can adapt to the environment according to the "macros" given by people, and take the initiative to complete more chaotic tasks.
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How to operate the KUKA robot
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(1) Turn the black knob above the teach pendant from vertical to horizontal.
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Software functions related to the real-time motion of KUKA robots
KUKA Robot RSI:
KUKA. Robot Sensor Interface
Function:
The data and signals from external sensors are effectively combined with the robot control system, and then the robot movement is corrected and guided.
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The robot motion system attaches great importance to the end node of the robot motion chain.
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KUKA robot *** boot up details
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Check the wiring under the machine control cabinet
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Cartesian coordinates are different from articulated robots
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