Robot drive concept: In order for the robot to work, the transmission equipment needs to be installed for each joint, i.e. each degree of freedom of movement.
Effect: Provide the driving force for the action of each part and joint of the robot.
Drive system: can be so hydraulic transmission, pneumatic transmission, electric transmission, or a combination of them to use the induction system; However, direct drive may be indirect drive through mechanical transmission organizations such as synchronous belts, chains, gear trains, and harmonic gears.
1. Electric drive
Strengths: The energy of the electric drive equipment is simple, the speed change scale is large, the efficiency is high, and the speed and azimuth accuracy are very high.
Disadvantages: However, they are mostly associated with deceleration equipment, and it is difficult to drive them directly.
Analysis: Electric drive equipment can be divided into direct current (DC), alternating current (AC) servo motor drive and stepper motor drive. DC servo motor brushes are easy to wear and tear and spark easily. Brushless DC motors are also becoming more and more widely used. The stepper motor drive is mostly open-loop control, the control is simple but the power is not large, and it is mostly used in low-precision and low-power robot systems.
2. Hydraulic drive
Strengths: It is completed by high-precision cylinder block and piston, and linear motion is completed through the relative movement of cylinder block and piston rod. The power is large, the deceleration equipment can be omitted and directly connected with the driven rod, the structure is compact, the stiffness is good, the response is fast, and the servo drive has high precision.
Defects: It is necessary to add a hydraulic source, which is easy to produce liquid leakage, and is not suitable for high and low temperature occasions, so hydraulic drive is currently mostly used in ultra-high-power robot systems.
Analysis: Picking the right hydraulic fluid. Avoid solid impurities from mixing into the hydraulic system, and avoid air and water from invading the hydraulic system. Mechanical operation should be soft and smooth, and rough mechanical operation should be avoided, otherwise it will inevitably produce impact loads, make mechanical failures occur frequently, and greatly shorten the service life. Keep an eye out for cavitation and overflow noise.
In the operation, we should always pay attention to the sound of the hydraulic pump and the relief valve, if the hydraulic pump has "cavitation" noise, which cannot be eliminated after exhausting, the cause should be found out and the fault can be eliminated before use. Adhere to the appropriate oil temperature, the working temperature of the hydraulic system is generally controlled between 30 and 80 °C.
3. Pneumatic drive
Strengths: The structure of the air pressure drive is simple, clean, active and has a cushioning effect.
Defects: However, compared with hydraulic drive equipment, the power is small, the stiffness is poor, the noise is large, and the speed is not easy to control, so it is mostly used for point control robots with low precision.
Analysis: It has the characteristics of fast speed, simple architecture, convenient maintenance and low price. It is suitable for robots with medium and small loads. However, due to the difficulty of completing servo control, it is mostly used in robots for program control, such as loading, unloading and stamping robots.
In most cases, it is used in small and medium-sized robots that complete two-position or limited point control. At present, most of the control equipment uses programmable manipulators (PLC manipulators). In flammable and explosive situations, pneumatic logic elements can be used to form control equipment.
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