A complete list of industrial robotics basics, read it understand it in seconds!

Industrial robots are widely used in industrial manufacturing, such as automobile manufacturing, electrical appliances, food. They can replace repetitive machine-operated work rely on their own power control capabilities to achieve various functions. They can accept human commands can also operate according to pre-programmed programs. Now let's talk about thebasic components of industrial robots .

1. Subject

The main mechanical part is the base the actuator, including the upper arm, lower arm, wrist hand, forming a multi-degree-of-freedom mechanical system. Some robots also have walking mechanisms. Industrial robots have 6 degrees of freedom more, the wrist generally has 1 to 3 degrees of freedom.

2. Drive system

The drive system of industrial robots is divided into three categories according to the power source: hydraulic, pneumatic electric. According to the needs, these three types of drive systems can also be combined into a composite drive system. it can be driven indirectly through mechanical transmission mechanisms such as synchronous belts, gear trains, gears. The drive system has a power device a transmission mechanism to implement the corresponding actions of the mechanism. These three basic drive systems have their own characteristics. The current mainstream is the electric drive system.

3. Control system

The robot control system is the brain of the robot the main factor that determines the robot's functions capabilities. The control system sends command signals to the drive system actuator according to the input program controls them. The main task of industrial robot control technology is to control the range of activities, postures trajectories, action time of industrial robots in the workspace. It has the characteristics of simple programming, software menu operation, friendly human-computer interaction interface, online operation prompts easy use.

4. Perception system

It is composed of internal sensor modules external sensor modules to obtain meaningful information about internal external environmental conditions.

Internal sensor: a sensor used to detect the robot's own state (such as the angle between the arms), mostly sensors that detect position angle. Specifically, there are: position sensors, position sensors, angle sensors, etc.

External sensors: sensors used to detect the robot's environment (such as detecting objects the distance to objects) conditions (such as detecting whether the grasped object has slipped). They include distance sensors, visual sensors, force sensors, etc.

5. End effector

The end effector is a component connected to the last joint of the manipulator. It is generally used to grab objects, connect with other mechanisms perform the required tasks. Robot manufacturers generally do design sell end effectors. In most cases, they only provide a simple gripper. Usually the end effector is installed on the flange of the robot's 6 axes to complete tasks in a given environment, such as welding, painting, gluing, parts loading unloading, which are tasks that require robots to complete.

Overview of Servo Motors

Servo drive, also known as "servo controller" "servo amplifier", is a controller used to control servo motors. Its function is similar to that of frequency converters on ordinary AC motors is part of the servo system. Generally, servo motors are controlled by position, speed torque to achieve high-precision transmission system positioning.

1. Driver wiring

The servo drive mainly includes control circuit power supply, main control circuit power supply, servo output power supply, controller input CN1, encoder interface CN2, connection CN3. The control circuit power supply is a single-phase AC power supply. The input power supply can be single-phase three-phase, but it must be 220v, which means that when the three-phase input is used, our three-phase power supply must be transformed by a transformer before it can be connected. For drives with lower power, single-phase direct drive can be used. The single-phase connection must be connected to the R S terminals.

2. Encoder wiring

the above picture, we can see that we only use 5 of the 9 terminals, one shield wire, two power wires, two serial communication signals (+-), which is similar to our ordinary encoder wiring.

3. Communication port

The driver is connected to the computer PLC, HMI other host computers through the CN3 port, MODBUS communication is used to control the driver. RS232 RS485 can be used for communication.

Important parameters of the robot

1. Degrees of freedom

It refers to the number of independently movable coordinate axes that the robot has.

The degree of freedom of a robot refers to the number of independent motion parameters required to determine the position posture of the robot's hand in space. The number of degrees of freedom of a robot is generally equal to the number of joints. Common robots generally have 5 to 6 degrees of freedom. Some robots also come with external axes.

2. Joint

That is, the kinematic pair, which is the mechanism that allows relative movement between the various parts of the robot arm.

3. Scope of work

The entire range of space that can be reached by the mounting point of an industrial robot arm  hand.

Its shape depends on the number of degrees of freedom of the robot the type configuration of each motion joint. The working range of a robot is generally represented by two methods: graphical method analytical method.

4. Speed

The distance moved angle rotated by the center of the mechanical interface the center of the tool per unit time when the robot is under load in constant motion during operation.

5. Workload

It refers to the weight that the load installed at the front end of the robot wrist can bear at any position within the working range, generally expressed in terms of mass, torque, moment of inertia. It is also related to parameters such as operating speed acceleration. The workload is generally measured by the weight of the workpiece that the robot can grasp when running at high speed. The load weight of the handling robot must take into account the total weight of the gripper the workpiece.

6. Resolution

It refers to the minimum moving distance minimum turning angle that the robot can achieve.

7. Accuracy

Repeatability repeatability accuracy: refers to the difference in the robot's repeated arrival at a certain target position. For example, if you require an axis to move 100 mm, it actually moves 100.01 the first time 99.99 the second time. The error of 0.02 is the repeatability accuracy. It measures the concentration of a series of error values, i.e. repeatability. The accuracy of the robot is only determined by the joint reducer transmission device, but also has a great relationship with the mechanical assembly process. Many robots have reduced repeatability accuracy due to improper assembly.