Do you understand industrial robot body structure?

The main body of an industrial robot is the mechanical part of the robot , also known as the manipulator. It is the operating mechanism of an industrial robot refers to the original appearance itself of the industrial robot. An industrial robot is a typical mechatronics product, generally consisting of five parts: the main body, the control system, the sensor, the driver, the input/output system interface. The main mechanical structure of an industrial robot consists of five parts: 1. Transmission components; 2. Body walking mechanism; 3. Arm; 4. Wrist; 5. Hand.

The industrial robot body consists of the following five parts

1. Industrial robot body: The mechanical body structure of the robot is basically divided into two categories. One is the operating body structure, which is similar to a human arm wrist, the other is the mobile body structure, which mainly realizes the mobile function, such as the loose robot.

2. Drive servo unit: The function of the servo unit is to drive the joint drive the load to move along a predetermined track. The widely used drive methods are: hydraulic servo drive, motor servo drive, pneumatic servo drive. The mainstream servo motor manufacturers on the market are Yaskawa, Mitsubishi, Panasonic, etc.

3. CNC system: The command value of each joint servo drive is calculated by the main computer given in each sampling period. The robot usually adopts two-level computer control, the main computer the joint drive servo computer. The computer control system includes motor drive software track control software.

4. Sensing system: In addition to the position sensor of the joint servo drive system (called internal sensor), it is also necessary to coordinate various types of sensors such as vision, force, touch, proximity, etc. (called external sensors).

5. Input/output system interface: In order to connect respond to peripheral systems corresponding operations, various communication interfaces human-computer communication devices will be opened.

The structural features of the industrial robot body are:

1. The industrial robot body can be simplified into an open kinematic chain with connecting rods connected end to end open at the end. The structural rigidity of the robot body is poor changes with the change of spatial orientation;

2. Each connecting rod of the robot body has an independent driver, the movement of the connecting rods is independent more flexible; generally, the connecting rod organization has 1-2 prime movers, the movement between the connecting rods is mutually bound, which makes the robot loose;

3. The change of connecting rod driving torque is complex related to the position of the actuator.