The drive system of industrial robots is divided into three categories according to the power source: hydraulic, pneumatic and electric, and can also be combined into a composite drive system by these three fundamental types according to the needs, each of which has its own characteristics.
1. Pneumatic drive system
The force drive system is generally composed of cylinders, valves, air tanks and air compressors (or directly supplied by the air pressure station). and so on, to condense the air to drive the performance organization to carry out the operation. Its advantages are that the air source is convenient, the action is agile, the structure is simple, the cost is low, the maintenance is convenient, the fire and explosion protection, the air slip has no impact on the environment, the defects are small operating force, large volume, and because of the air contraction, the speed is not easy to control, the response is slow, the action is unstable, and there is impact. Because the origin 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 motors (various cylinders, oil motors), servo valves, oil systems, oil tanks, etc., and the oil is used to drive the performance organization to carry out operations. 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 high requirements for sealing, and it is not suitable for operation in high or low temperature occasions, and the manufacturing accuracy required is high, and the cost is also high.
3. Electric drive system
Electric drive is the use of electric motor to generate force into torque. Drive the robot directly or through a deceleration mechanism to achieve the desired bearing, velocity, and acceleration. The electric drive has the power supply is easy to obtain, no environmental pollution, fast response, large driving force, convenient signal detection, transmission and processing, can choose a variety of control plans with smart words, high motion accuracy and low cost, and advanced driving power, which is a driving method that is most used by robots now. The drive motor generally uses stepper motor, DC servo motor and AC servo motor. Because the motor speed is high, it is generally necessary to choose a deceleration organization, and now some organizations have begun to choose a special motor that does not need a 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 supplies power to various components of the fulfillment system, including two parts: the drive and the transmission organization, which are generally integrated with the fulfillment organization. Drives generally have electric, hydraulic, pneumatic equipment and a comprehensive 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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