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 pneumatic 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 repair is convenient, the fire and explosion prevention, the air has no impact on the environment, the disadvantage is that the operating force is small, the volume is large, and due to the air contraction, the speed is not easy to control, the response is slow, the action is not stable, 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, oscillation 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 higher requirements for sealing, and is not suitable for operation in high or low temperature occasions, requiring higher production accuracy and higher cost.
3. Electric drive system
Electric drive is the use of the force generated by the electric motor to form a moment. Drive the robot directly or through a deceleration mechanism to achieve the desired position, velocity, and acceleration. The electric drive has the advantages of easy access to power supply, no environmental pollution, fast response, large driving force, convenient signal detection, transmission and processing, and can choose a variety of smart words of the control plan, high motion accuracy and low cost, high driving efficiency, etc., 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. Due to the high speed of the motor, the deceleration organization is generally required, and now some organizations have begun to choose the special motor direct drive without the deceleration organization, which can simplify the organization and 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 the industrial robot is the equipment that provides power to the 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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