Introduction to six-axis robot ontology design

At present, most of the industrial robots used in China are six-axis robot bodies. When planning a six-axis robot , it is necessary to consider the usage conditions some other conditions. So the editor will share with you the specific contents that need to be considered in the planning of the six-axis robot body.

1. Confirm the planning requirements according to the robot's operating object, operating task environment

At present, the mainstream industrial robots are divided into arc welding, spot welding, handling, spraying, casting, palletizing, installation robots, etc., their different wrist load levels, precision levels, operating speeds, protection levels are determined according to their different application occasions. When designing a new robot, it is necessary to fully consider the above factors, control costs under the principle of reliability, refer to more advanced models of similar products at home abroad, refer to their design parameters, through repeated research comparison, confirm the characteristics of the required mechanical parts determine the design plan.

2. The six-axis robot body planning should consider the balance of the robot arm

For robots with large loads, the gravity torque of the arm itself is balanced so that the driver basically only needs to overcome the inertial force of the robot when it moves, while ignoring the influence of the gravity torque. This can reduce the power volume of the driver, improve the dynamic characteristics of the robot, improve the overall performance of the robot. The main balancing methods for industrial robots are gravity, spring, hydraulic pneumatic.

1. Counterweight balance type, simple structure, easy to adjust, reliable operation, but increases joint load its own inertia, suitable for conditions with small unbalanced force;

2. Spring balance type, simple structure, good effect, reliable operation, but small balance scale, suitable for small medium loads;

3. Hydraulic pneumatic balancing type, characterized by adjustable pressure, large balancing force, compact size, can achieve balancing under different loads. Suitable for medium high loads;

3. Planning the six-axis robot body requires analysis of robot dynamics

The gravity torque of each axis of the robot is basically balanced, so when these axes are working, the motor must first overcome the dynamic torque caused by the rotational inertia of each axis.

When calculating the moment of inertia of each axis, the position of the maximum moment of inertia that may appear on each axis is used as the calculation basis. When there is no detailed planning of each component material, you can refer to the parameters of related models at home abroad to make a rough calculation in order to the reducer motor.