Do you know the composition classification of industrial robots

Industrial robots are composed of three major parts six subsystems. The three major parts are: mechanical body, sensor part control part. The six subsystems are: drive system, mechanical structure system, perception system, robot -environment interaction system, human-machine interaction system control system.

1. Composition of industrial robots:

1. Drive system

To make the robot run, each joint, that is, each degree of freedom of motion, needs to be equipped with a transmission device, which is the drive system. The drive system can be hydraulic, pneumatic electric, a comprehensive system that combines them. It can also be directly driven directly driven through mechanical transmission mechanisms such as synchronous belts, chains, gear trains, harmonic gears.

2. Mechanical structure system

The mechanical structure system of an industrial robot consists of three major parts: the body, the arm, the end effector. Each major part has several degrees of freedom to form a multi-degree-of-freedom mechanical system. If the body has a walking mechanism, it constitutes a walking robot; if the body does have a walking waist rotation mechanism, it constitutes a single robot arm. The arm is generally composed of an upper arm, a lower arm, a wrist. The end effector is an important part directly mounted on the wrist, which can be a two-finger multi-finger gripper.

3. Perception system

The perception system consists of internal sensors external sensors, its function is to obtain information about the robot's internal external environment to feed this information back to the control system. Internal state sensors are used to detect variables such as the position speed of each joint, provide feedback information for the closed-loop servo control system. External sensors are used to detect some state variables between the robot the surrounding environment, such as distance, proximity, contact, to guide the robot so that it can identify objects make corresponding processing. On the one hand, external sensors enable the robot to obtain the surrounding environment more accurately, on the other hand, they can also play an error correction role.

4. Control system

The task of the control system is to obtain feedback signals sensors according to the robot's operating instructions, control the robot's execution mechanism, enable it to complete regular movements functions. If the robot does have information feedback characteristics, the control system is called an open-loop control system; if the robot has information feedback characteristics, the control system is called a closed-loop control system. This part is mainly composed of computer hardware software. The software is mainly composed of human-computer interaction systems control algorithms.

2. Classification of industrial robots:

Industrial robots are divided into three parts: the mechanical body, the sensor part the control part.

1. Material transfer robot

Transfer robots are widely used generally only require point control, that is, there is no strict requirement for the motion trajectory of the workpiece being transferred, only the position posture of the starting point the end point are required to be accurate.

2. Detection Robot

Inspection during the manufacturing process after-production inspection are key to ensuring product quality. The work content of this type of robot is mainly to confirm whether the part size is within the allowed tolerance, to control the parts to be sorted by quality.

For example, after the thread processing of the oil pipe joint is completed, the ring gauge is screwed into the pipe end. By measuring the screw-in amount detecting the contact degree with the sealing gasket, the processing accuracy of the joint thread can be understood. The oil pipe joint workpiece is heavy, the mass of the ring gauge generally exceeds 15kg. In order to complete the continuous automation of the thread detection task (automatic disengagement of the ring gauge, automatic screw-in measurement, etc.), an oil pipe joint thread detection robot is required. This robot is a six-axis multi-joint robot. Its feature is that its hand structure is a five-degree-of-freedom flexible thread screw-in structure. There is also a stuck detection mechanism that can control the thread screw-in action.

3. Welding Robot

This is the most widely used robot, which is divided into two categories: electric welding arc welding. Electric welders have heavy loads fast movements, strict requirements on the posture of the work, generally with 6 degrees of freedom. Arc welding robots have small loads low speeds. Arc welding has strict requirements on the robot's motion track, continuous path control must be achieved, that is, each point on the motion track must meet the predetermined position posture requirements.

Of the six degrees of freedom of arc welding robots, three are generally used to control the welding tool to follow the spatial trajectory of the weld, the other three maintain the correct posture relationship between the welding tool the workpiece surface, so as to ensure good weld quality. At present, automobile manufacturers have widely used welding robots for welding load-bearing beams car bodies.

The working object of the oil pipe joint thread inspection robot is the steel pipe. Different pipe diameters pipe bending will cause eccentric positioning of the steel pipe. Therefore, it is necessary to install a camera on the robot hand to identify the position of the steel pipe, then identify the center line of the steel pipe based on image matching other technologies.

4. Install the robot

The installation robot requires high posture accuracy greater flexibility of the wrist. Because installation is a complex operation process, it is necessary only to detect errors in the installation process, but also to correct such errors. Therefore, the installation robot uses many sensors, such as touch sensors, visual sensors, proximity sensors, auditory sensors, etc.

5. Spraying robot

The painting robot is mainly composed of the robot body, computer corresponding control system. The hydraulically driven painting robot also includes a hydraulic oil source, such as an oil pump, oil tank motor. Most of them use 5 6 degrees of freedom articulated structure, the arm has a large movement space, can do complex orbital movement, its wrist generally has 2 to 3 degrees of freedom can move flexibly. The more advanced painting robot wrist uses a flexible wrist, which can bend in all directions rotate. Its movement is similar to that of a human wrist, it can easily reach into the workpiece through a smaller hole spray its inner outer surfaces. The painting robot is generally hydraulically driven, with the characteristics of fast movement speed good explosion-proof performance. Teaching can be completed through hand-to-hand teaching point indication. Painting robots are widely used in process production departments such as cars, instruments, electrical appliances, enamel.

This type of industrial robot is mostly used in spraying production lines, its repeated positioning accuracy is high. In addition, because paint mist is flammable, the drive device must be flameproof explosion-proof.

It has many advantages, such as accurate spraying, long normal operation time, low paint consumption, short operation cycle effective integration of coating equipment.