Industrial robots consist of three main parts and six subsystems. Based on the collaborative operation of these three main parts and six systems, industrial robots become high-precision mechanical devices with characteristics such as high working accuracy, strong stability, and high working speed, further improving production efficiency, reducing production costs, and enhancing product precision and quality for enterprises. The three main parts of an industrial robot refer to the mechanical part, the sensing part, and the control part; the six systems refer to the drive system, the mechanical structure system, the sensing system, the robot-environment interaction system, the human-machine interaction system, and the control system.
Three main parts
1. Mechanical parts
The mechanical part is the foundation of a robot, equivalent to its flesh and blood. Its structure determines the robot's purpose, performance, and control characteristics. The mechanical part includes two subsystems: the drive system and the mechanical structure system.
2. Sensing section
The sensing component is the source of external information for the robot, equivalent to the five senses of a human. The robot can perceive its own condition and the external environment through the sensing component, which guides the robot to work more accurately. It mainly includes the sensing system and the robot-environment interaction system.
3. Control Section
The control unit is the core of an industrial robot, equivalent to the robot's brain. It ensures that operators receive timely and accurate information about the operation and controls the robot's movements according to requirements. It is divided into a human-machine interaction system and a control system.
Six major systems
1. Drive system: In order for the robot's actuators to operate smoothly, transmission devices need to be installed on each joint. This is the drive system. Its function is to provide the power source for the movement of each part and joint of the robot, including the power unit and transmission mechanism of the industrial robot.
2. Mechanical structure system: refers to the mechanical components that enable industrial robots to perform various actions and movements. It mainly consists of skeletons (links) and joints (kinematic pairs) that connect them. Each part has several degrees of freedom, forming a multi-degree-of-freedom mechanical system.
3. Sensing System: This system typically consists of internal and external sensor modules. It is used to detect the robot's own state and the objects it operates on as well as the working environment, thereby acquiring meaningful information about the internal and external environmental states. Internal sensor modules include position sensors and velocity sensors, while external sensor modules include tactile sensors, vision sensors, force sensors, proximity sensors, ultrasonic sensors, and auditory sensors.
4. Robot-Environment Interaction System: This is a system that enables industrial robots to communicate and coordinate with equipment in the external environment. Industrial robots are typically integrated with external equipment into a functional unit, such as a processing and manufacturing unit, welding unit, or assembly unit. Alternatively, multiple robots, machine tools or equipment, or multiple parts storage devices can be integrated into a single functional unit to perform complex tasks, assisting industrial robots in establishing effective interaction channels with external equipment.
5. Human-machine interaction system: This is a device that enables operators to participate in robot control and exchange information with the robot. It is mainly used for monitoring, teaching, simulation, offline programming and online control of industrial robots. Examples include standard computer terminals, information display boards, danger signal alarms, command consoles, and teach pendants.
6. Control System: This is a system that controls the robot by issuing command signals to the drive system and actuators according to the robot's operational instructions and signals fed back from sensors. It is mainly classified according to three aspects: whether it has information feedback characteristics, its control principle, and the form of controlled motion. It can be flexibly adapted to different equipment and specific requirements.
