The robot control system is the brain of the robot, and it is the main factor determining the robot's functions and performance. The main task of industrial robot control technology is to control the robot's position, posture, trajectory, operation sequence, and the timing of actions within the workspace. It features simple programming, software menu operation, a user-friendly human-machine interface, online operation prompts, and ease of use.
Key technologies include:
(1) Open and modular control system architecture: It adopts a distributed CPU computer structure, which is divided into a robot controller (RC), a motion controller (MC), an opto-isolated I/O control board, a sensor processing board, and a programming teach pendant. The robot controller (RC) and the programming teach pendant communicate through a serial port/CAN bus. The main computer of the robot controller (RC) completes the robot's motion planning, interpolation, position servoing, main control logic, digital I/O, sensor processing, and other functions, while the programming teach pendant completes the information display and key input.
(2) Modular and Hierarchical Controller Software System: The software system is built on the open-source real-time multitasking operating system Linux, and adopts a layered and modular structure design to achieve the openness of the software system. The entire controller software system is divided into three layers: the hardware driver layer, the core layer, and the application layer. The three layers address different functional requirements and correspond to different levels of development. Each layer in the system consists of several functionally opposing modules, which cooperate with each other to achieve the functions provided by that layer.
(3) Robot fault diagnosis and safety maintenance technology: Diagnosing robot faults and carrying out corresponding maintenance through various information is a key technology to ensure robot safety.
(4) Networked Robot Controller Technology: Currently, robot applications are evolving from single robot workstations to robot production lines, making network technology for robot controllers increasingly important. The controller features serial ports, fieldbus, and Ethernet networking capabilities. This allows for communication between robot controllers and between robot controllers and host computers, facilitating monitoring, diagnosis, and management of the robot production line.
Automated Guided Vehicles (AGVs)
Automated Guided Vehicles (AGVs) are a type of industrial robot. They are computer-controlled and have functions such as movement, automatic navigation, multi-sensor control, and network interaction. They can be widely used in industries such as machinery, electronics, textiles, tobacco, medical, food, and papermaking for flexible handling and transmission. They are also used in automated warehouses, flexible processing systems, and flexible assembly systems (using AGVs as mobile assembly platforms). At the same time, they can be used as transportation tools in the sorting of goods at stations, airports, and post offices.
One of the new trends in international logistics technology development is mobile robots, which are a core technology and equipment. They are high-tech equipment that use modern logistics technology to cooperate with, support, transform and upgrade traditional production lines, and achieve point-to-point automatic storage and retrieval of high-bay container storage, operations and handling. This enables precision, flexibility and informatization, shortens logistics processes, reduces material loss, reduces land area, and reduces construction investment.
Spot welding robot
Welding robots are characterized by stable performance, large working space, high movement speed and strong load capacity. Their welding quality is significantly better than that of manual welding, greatly improving the productivity of spot welding operations.
Spot welding robots are mainly used for welding work on automobiles, a process handled by major automakers. International industrial robot companies, leveraging their long-term partnerships with major automakers, supply various spot welding robot units to these large manufacturers and enter the Chinese market by integrating welding robots with vehicle production lines, thus achieving a dominant market position in this field.
With the development of the automotive industry, welding production lines require integrated welding guns, resulting in increasingly heavier robots. The 165kg spot welding robot is currently one of the most commonly used robots in automotive welding. In September 2008, the Robotics Research Institute completed the development of China's first 165kg-class spot welding robot, which was successfully applied in Chery Automobile's welding workshop. In September 2009, the second robot, after optimization and performance improvements, was completed and successfully passed acceptance testing. The overall technical specifications of this robot have reached the level of similar robots abroad.
Arc welding robot
Arc welding robots are primarily used in the welding production of various automotive parts. In this field, large international industrial robot manufacturers mainly supply unit products to complete equipment suppliers. Our company primarily manufactures complete arc welding robot systems. Depending on the specific needs of various projects, we manufacture the robot unit products within these systems ourselves, or we purchase and assemble various arc welding robot systems from large industrial robot companies. In this field, our company has both competitive and cooperative relationships with large international industrial robot manufacturers.
Key technologies include:
(1) Arc welding robot system optimization and integration technology: The arc welding robot adopts AC servo drive technology and high-precision, high-rigidity RV reducer and harmonic reducer, which has good low-speed stability and high-speed dynamic response, and can achieve maintenance-free function.
(2) Coordinated control technology: Controlling the coordinated movement of multiple robots and positioners can maintain the relative posture of the welding torch and the workpiece to meet the requirements of the welding process, and avoid collision between the welding torch and the workpiece.
(3) Precise weld seam trajectory tracking technology: Combining the advantages of laser sensors and vision sensors working offline, laser sensors are used to track weld seams during the welding process, improving the flexibility and adaptability of welding robots to weld complex workpieces. The residual deviation of weld seam tracking is obtained by offline observation using vision sensors. Compensation data is obtained based on deviation statistics and the robot's motion trajectory is corrected, so that the best welding quality can be obtained under various working conditions.
Laser processing robot
Laser processing robots apply robotics technology to laser processing, enabling more flexible laser processing operations through high-precision industrial robots. This system operates online via a teach pendant and can also be programmed offline. The system automatically detects the workpiece, generates a model of it, and then produces processing curves. It can also directly process data using CAD data. Applications include laser surface treatment, drilling, welding, and mold repair.
Key technologies include:
(1) Laser processing robot structural optimization design technology: adopting a large-scale frame-type body structure to increase the working range while ensuring robot accuracy;
(2) Error compensation technology for robot system: In view of the requirements of large working space and high precision of integrated processing robot, and combined with its structural characteristics, a hybrid robot compensation method combining non-model method and model-based method was adopted to complete the compensation of geometric parameter error and non-geometric parameter error.
(3) High-precision robot inspection technology: By combining coordinate measuring technology and robot technology, high-precision online measurement of robots is realized.
(4) Laser processing robot dedicated language implementation technology: Based on the characteristics of laser processing and robot operation, a dedicated language for laser processing robots is developed.
(5) Network communication and offline programming technology: It has network communication functions such as serial port and CAN to realize the monitoring and management of robot production line; and realizes the offline programming control of robot by host computer.
vacuum robot
Vacuum robots are robots that operate in a vacuum environment, primarily used in the semiconductor industry to transfer wafers within vacuum chambers. Vacuum robotic arms are difficult to import, subject to restrictions, used in large quantities, and highly versatile, making them a key component restricting the development progress and competitiveness of complete semiconductor equipment. Furthermore, foreign buyers subject Chinese buyers to stringent scrutiny, and vacuum robotic arms are included in embargo lists, making them a serious bottleneck hindering the manufacturing of complete semiconductor equipment in my country. Direct-drive vacuum robot technology is an original innovative technology.
Key technologies include:
(1) New configuration design technology for vacuum robots: Through structural analysis and optimization design, avoiding international patents, a new configuration is designed to meet the requirements of vacuum robots for stiffness and extension ratio;
(2) Large gap vacuum direct drive motor technology: This involves the theoretical analysis, structural design, manufacturing process, surface treatment of motor materials, low speed and high torque control, and small multi-axis drive of large gap vacuum direct drive motors and high cleanliness direct drive motors.
(3) Design of multi-axis precision shaft system in vacuum environment. The design method of shaft in shaft is adopted to reduce the problems of misalignment and inertia asymmetry between shafts.
(4) Dynamic trajectory correction technology: By fusing sensor information and robot motion information, the offset between the reference position of the wafer and the finger is detected. By dynamically correcting the motion trajectory, the robot can accurately transfer the wafer from one station in the vacuum chamber to another station.
(5) Vacuum robot language conforming to SEMI standards: Based on the handling requirements of vacuum robots, the characteristics of robot operation and SEMI standards, complete the special language for vacuum robots.
(6) Reliability Systems Engineering Technology: In IC manufacturing, equipment failures can lead to huge losses. Based on the high requirements of semiconductor equipment for MCBF, the reliability of each component is tested, evaluated, and controlled to improve the reliability of each component of the robot, thereby ensuring that the robot meets the high requirements of IC manufacturing.
Cleanroom robots
Cleanroom robots are industrial robots used in clean environments. As production technology continues to improve, the requirements for the production environment are becoming increasingly stringent. Many modern industrial products require clean environments for production, and cleanroom robots are key equipment needed for production in clean environments.
Key technologies include:
(1) Clean lubrication technology: By adopting a negative pressure dust suppression structure and non-volatile grease, the environment is free from particulate pollution, thus meeting the cleanliness requirements.
(2) High-speed and stable control technology: By optimizing the trajectory and improving the joint servo performance, the stability of clean handling is achieved.
(3) Miniaturization technology of controller: Due to the high construction and operation costs of cleanrooms, the space occupied by cleanroom robots is reduced through controller miniaturization technology.
(4) Wafer inspection technology: Through optical sensors, information such as whether there are missing wafers or tilting in the cassette can be obtained by scanning with a robot.
