Industrial robot is a multi-joint manipulator or multi-degree of freedom machine device widely used in the industrial field. It has certain automaticity and can realize various industrial processing and manufacturing functions depending on its own power and control ability. Industrial robots are widely used in electronic, logistics, chemical and other industrial fields.
Composition of industrial robots
Generally speaking, industrial robots are composed of three major parts and six subsystems. The third part is the mechanical part, the sensing part and the control part; The six subsystems can be divided into mechanical structure system, drive system, perception system, robot-environment interaction system, human-computer interaction system and control system.
1. Mechanical structure system
In terms of mechanical structure, industrial robots are generally divided into series robots and parallel robots. The characteristic of the series robot is that the motion of one axis will change the coordinate origin of the other axis, while the motion of one axis of the parallel robot will not change the coordinate origin of the other axis.
2. Drive system
The drive system is a device that provides power to the mechanical structure system. According to the different power sources, the transmission modes of the drive system are divided into four types: hydraulic, pneumatic, electrical and mechanical. Early industrial robots were hydraulically driven. Due to the problems of leakage, noise and low speed instability in the hydraulic system, and the bulky and expensive power unit, there are only large heavy-load robots, parallel processing robots and industrial robots driven by hydraulic pressure in some special applications.
3. Perception system
The robot perception system transforms various internal state information and environment information of robots from signals to data and information that can be understood and applied by robots themselves or between robots. In addition to the need to perceive mechanical quantities related to their own working state, such as displacement, speed and force, visual perception technology is an important aspect of industrial robot perception. The visual servo system uses the visual information as the feedback signal to control and adjust the position and posture of the robot.
4. Robot-environment interaction system
The robot-environment interaction system is a system that realizes the interaction and coordination between robots and equipment in the external environment. The robot and external equipment are integrated into a functional unit, such as processing and manufacturing unit, welding unit, assembly unit, etc. Of course, multiple robots can be integrated into a functional unit to perform complex tasks.
5. Human-computer interaction system
Human-computer interaction system is a device for people to communicate with robots and participate in robot control. For example: standard terminal of computer, command console, information display board, danger signal alarm, etc.
6. Control system
The task of the control system is to control the execution mechanism of the robot to complete the specified motion and function according to the robot's operation instructions and the signals fed back from the sensors. If the robot does not have information feedback characteristics, it is an open-loop control system; With information feedback characteristics, it is a closed-loop control system.
Development trend of industrial robots
1. Man-machine cooperation
With the development of robots from keeping distance with people to interacting and cooperating with people naturally. The maturity of drag teaching and manual teaching technology makes programming easier to use, reduces the professional requirements for operators, and makes the process experience of skilled technicians easier to transfer.
2. Autonomy
At present, robots have developed from pre-programming, teaching-playback control, direct control, remote operation and other controlled operation modes to autonomous learning and autonomous operation. The intelligent robot can automatically set and optimize the trajectory path, automatically avoid singular points, predict interference and collision, and avoid obstacles according to the working conditions or environmental requirements.
3. Intelligence, informatization and networking
More and more 3D vision and force sensors will be used on robots, and robots will become more and more intelligent. With the development of sensing and recognition systems, artificial intelligence and other technologies, robots have developed from being controlled by one way to storing and applying data by themselves, and gradually become informationized. With the progress of multi-robot cooperation, control, communication and other technologies, robots have developed from independent individuals to interconnected and collaborative cooperation.