Industrial robots are widely used in industrial production, car production, electrical appliances, food, etc., can replace repetitive machine operations, and are a kind of machine that relies on its own power and control to achieve various functions. It can withstand human command, and it can also operate according to pre-programmed procedures. Today, we will talk about the fundamental and primary components of industrial robots.
Subject
The main machine is the machine base and the implementation organization, including the big arm, the small arm, the wrist and the hand, which constitutes a multi-degree of freedom mechanical system. Some robots also have walking tissues. Industrial robots have 6 degrees of freedom or more, and wrists generally have 1-3 degrees of freedom of movement.
Drive system
The drive system of industrial robots is divided into three categories: hydraulic, pneumatic and electric according to the power source. Depending on the requirements, these three paradigm groups can also be combined with composite drive systems. It may be driven indirectly through mechanical transmission organizations such as timing belts, gear trains, and gears. The drive system has a power device and a transmission organization, which is used to implement the organization to produce the corresponding action, and these three types of fundamental drive systems have their own characteristics, and now the main stream is the electric drive system.
Because of the low inertia, high-torque AC and DC servo motors and their supporting servo drives (AC inverter, DC pulse width modulator) are widely accepted. This type of system does not require energy conversion, and is easy to use and sensitive to control. Behind most motors is a delicate transmission organization: the reducer. The gear uses the rate converter of the gear, the number of reversals of the motor is decelerated to the number of reversals required, and the device of larger torque is obtained, so as to reduce the speed and add torque, when the load is large, it is not cost-effective to blindly increase the power of the servo motor, and the output torque can be advanced through the reducer within the suitable rate range. Servo motors are prone to heat up and low-frequency vibration under low-frequency operation, and long-term and repetitive operation is not conducive to ensuring its accuracy and reliable operation. The existence of precision geared motors enables the servo motor to operate at a suitable rate, strengthen the rigidity of the machine body and output greater torque. Now there are two kinds of reducers for the main stream: harmonic reducer and RV reducer
Control system
The robot control system is the brain of the robot and the primary element that determines the function and function of the robot. The control system is to recall the command signal of the drive system and the implementation organization according to the input program, and control it. The primary task of industrial robot control technology is to control the range of activities, posture and trajectory, and the time of action of industrial robots in the working space. It has the characteristics of simple programming, software menu operation, friendly human-computer interaction interface, online operation tips and convenient use.
The manipulator system is the center of the robot, and the relevant foreign companies are tightly closed to China's test. Over the years, with the development of microelectronic technology, the function of microprocessors has become higher and higher, and the price has become cheaper and cheaper, and now there are 32-bit microprocessors that cost 1-2 US dollars on the market. The cost-effective microprocessor brings new opportunities for the robot manipulator, making it possible to pioneer a low-cost, high-function robot manipulator. In order to make the system have sufficient computing and storage capabilities, the robot manipulator is now composed of strong ARM series, DSP series, POWERPC series, Intel series and other chips.
Because the function and function of the existing general-purpose chips can not be fully satisfied with the requirements of some robot systems in terms of price, function, integration and interface, etc., this has given rise to the demand for SoC (Systemon Chip) technology in the robot system, which integrates the specific processor with the required interface, which can simplify the design of the peripheral circuit of the system, reduce the size of the system, and reduce the cost. For example, Actel integrates NEOS or ARM7 processor cores into its FPGA products, forming a complete SoC architecture. In terms of robot technology manipulators, its research mainly converges on United States and Japan, and there are sophisticated finished products, such as United States DELTATAU Co., Ltd., Japan Pengli Co., Ltd., etc. The motion controller is based on DSP technology and adopts an open PC-based architecture.
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Why does the robot flutter when it is running? Please do the following:
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2、 ...
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Fault 1: When loading a software component, the control system is stuck.
Cause: The MFC device cannot be initialized, MFC3 is not properly plugged in, and the PCI bus on the motherboard is faulty.
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1. High-precision reducer
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One. Online forms
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KUKA Industrial Robot won the Red Dot Award 2017
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