Introduction to the basic structure of the industrial robot body form

Understand the mechanical structure of industrial robots , then we can flexibly the appropriate mechanical structure according to the robot 's operating policy requirements. The organizational planning needs to consider the following: confirm the organizational motion method parameter targets (motion range, freedom, etc.) of each part of the robot (body, arm, wrist, hand, walking mechanism, etc.), establish the robot coordinate system joint coordinate system, transmission organizational planning preliminary selection of drive components, etc. Huiwen Intelligence will share with you in detail below.

1. Basic structure of industrial robot

The basic structure of the robot body includes: transmission parts, body walking mechanism, arms, wrists hands. The basic structure of the robot body has the following main features:

1. Open kinematic chain: low structural rigidity:

2. Relative rack: independent drive, sensitive movement;

3. The torque change is very complex: there are high requirements for stiffness, clearance motion accuracy;

4. Dynamic parameters (force, stiffness, dynamic performance) all change with the change of posture: vibration other unstable phenomena are prone to occur.

2. Basic structural requirements of the robot body:

1. Small weight: improve the dynamic performance of robot operation;

2. High static dynamic stiffness: improve positioning accuracy tracking accuracy; increase the sensitivity of mechanical system planning; reduce the overshoot stabilization time during positioning, reduce the requirements for the control system the system cost;

3. High natural frequency: Avoiding the operating frequency of the robot is conducive to the stability of the system .

3. Typical structure of industrial robot body

The fuselage structure is generally determined by the overall robot plan.

1. Reversing lifting the fuselage

a. Oil cylinder drive, the lifting oil cylinder is at the bottom, the reverse oil cylinder is at the top. The size of the lifting piston rod should be enlarged.

b. Cylinder drive, the reverse cylinder is at the bottom, the lifting cylinder is at the top, the driving torque of the reverse cylinder should be designed to be larger.

c. Sprocket drive mechanism, the reversal angle can be greater than 360°

2. Reverse pitch the fuselage.

4. Issues to be noted in the planning of collaborative robot body

1. High rigidity strength, good stability performance;

2. The drive is sensitive the guide sleeve should be too short to avoid jamming;

3. The driving method is suitable;

4. Reasonable structural layout.