Robot is a machine that has more degrees of freedom in three-dimensional space and can achieve many anthropomorphic actions and functions, while industrial robot is a robot used in industrial production. It is characterized by programmability, personification, versatility and electromechanical integration.
2. What are the subsystems of industrial robots? What are their respective roles?
·Drive system: the drive device that makes the robot run.
·Mechanical structure system: a multi-degree-of-freedom mechanical system composed of three major parts: fuselage, arm and manipulator end tool.
·Sensing system: It is composed of internal sensor module and external sensor module to obtain the information of internal and external environment status.
·Robot-environment interaction system: a system that realizes the interaction and coordination between industrial robots and equipment in the external environment.
·Human-machine interaction system: It is a device for operators to participate in robot control and communicate with robots.
·Control system: according to the robot's operation instruction program and the signal feedback from the sensor, control the robot's executive mechanism to complete the specified movement and function.
3. What is the degree of freedom of a robot? How many degrees of freedom are required for robot position operation? How many degrees of freedom are required for attitude operation?
Degrees of freedom refer to the number of independent coordinate axis motions that the robot has. It should not include the opening and closing degrees of freedom of the gripper (end tool). It requires six degrees of freedom to describe the position and attitude of an object in three-dimensional space, three degrees of freedom for position operation (waist, shoulder, elbow), and three degrees of freedom for attitude operation (pitch, yaw, roll).
The degree of freedom of industrial robot is designed according to its purpose, which may be less than 6 degrees of freedom or more than 6 degrees of freedom.
4. What are the main technical parameters of industrial robots?
Degree of freedom, repetitive positioning accuracy, working range, maximum working speed and bearing capacity.
5. What are the functions of the fuselage and the arm? What should we pay attention to when designing?
The fuselage is a part of the supporting arm, which generally realizes the movements of lifting, slewing and pitching. The fuselage should be designed with sufficient rigidity and stability; The movement should be flexible. The length of the guide sleeve of the lifting movement should not be too short to avoid jamming. Generally, there should be a guide device; The arm is a component that supports the static and dynamic loads of the wrist and the workpiece, especially when moving at high speed, it will produce large inertia force, cause impact, and affect the accuracy of positioning.
When designing the arm, attention should be paid to high rigidity, good guidance, light weight, stable movement and high positioning accuracy. Other transmission systems should be as short as possible to improve transmission accuracy and efficiency; The arrangement of each component shall be reasonable and the operation and maintenance shall be convenient; In special circumstances, the impact of thermal radiation should be considered in high temperature environment. In corrosive environment, corrosion protection should be considered. Riot prevention should be considered in hazardous environment.
6. What is the main function of the degree of freedom on the wrist? If the hand is required to be in any direction in space, what degree of freedom should the wrist have?
The degree of freedom on the wrist is mainly to achieve the desired posture of the hand. In order to make the hand in any direction in space, it is required that the wrist can rotate the three coordinate axes X, Y and Z in space. That is, it has three degrees of freedom of overturning, pitching and deflection.