Industrial robots are automated devices that can simulate some of the movements of a human hand and arm, and perform tasks such as grasping, moving workpieces or manipulating tools according to a predetermined program, trajectory and other requirements. They are a typical mechatronics product with great development potential and will play a significant role in realizing intelligent, multifunctional and flexible automated production, improving product quality and replacing humans in harsh working conditions.
Composition of industrial robots
Mechanical system
A mechanical system is a mechanical component that performs the required movement by grasping a workpiece or tool. It includes the following parts: ① The hand is the part of the industrial robot that directly contacts the workpiece or tool to grasp it. Some industrial robots directly mount tools (such as welding guns, spray guns, containers) in the hand position and do not have a separate hand.
②The wrist is the part that connects the hand and the arm. It is mainly used to determine the working position and posture of the hand and to appropriately expand the range of motion of the arm.
③ The arm is the part that supports the wrist and hand, enabling a relatively large range of motion;
④ The fuselage is the component used to support the boom and install the drive unit and other devices;
⑤ The walking mechanism is the mechanism that expands the range of motion of industrial robots. Some are dedicated walking devices, while others are rail and roller mechanisms.
drive system
The function of a drive system is to provide power to the actuators. Depending on the drive source, drive systems can be classified into four types: hydraulic, pneumatic, electric, and mechanical.
control system
The control system is the command system of an industrial robot. It controls the robot to move according to a prescribed program, can memorize various instruction information (such as action sequence, movement trajectory, movement speed and time), and simultaneously issues instructions to each actuator according to the instruction information. When necessary, it can also monitor the robot's movements and issue alarm signals when there are errors in the movements or malfunctions.
Detection sensor system
It mainly detects the motion position and status of the industrial robot's execution system, and feeds back the actual position of the execution system to the control system at any time, compares it with the set position, and then makes adjustments through the control system, so that the execution system can reach the set position with a certain accuracy.
Artificial intelligence system
This system primarily endows industrial robots with five senses, enabling them to automatically identify and adaptively operate workpieces.
Main parameters of industrial robots
Grip weight
Arm strength, or grip weight, indicates the robot's load-bearing capacity. This parameter is related to the robot's movement speed and usually refers to the weight of the workpiece that can be gripped at normal operating speed. When the robot's operating speed is adjustable, the maximum weight of the workpiece that can be gripped at low speed is greater than that at high speed. For safety reasons, there are also cases where the weight of the workpiece that can be gripped at high speed is used as an indicator, in which case the operating speed is usually specified.
Speed of movement
Movement speed is an important technical parameter reflecting robot performance. It is closely related to parameters such as the robot's gripping weight and positioning accuracy, and also directly affects the robot's motion cycle.
Degrees of freedom
The more degrees of freedom an industrial robot has, the more flexible its movements and the stronger its adaptability, but the more complex its structure also becomes. Generally, 4 to 6 degrees of freedom are sufficient to meet the requirements.
Positioning accuracy
Positioning accuracy, or repeatability, is another important indicator for measuring the quality of a robot's work. The level of positioning accuracy depends on the position control method, as well as the manufacturing precision and rigidity of the moving parts themselves, and is also closely related to factors such as gripping weight and movement speed.
Programming and storage capacity
This technical parameter is used to describe the robot's control capabilities. A large storage capacity indicates strong adaptability, good versatility, and a strong ability to perform complex tasks.
