This article provides a detailed introduction to several coordinate systems in industrial robot workstations, including joint coordinate systems, Cartesian coordinate systems, cylindrical coordinate systems, and polar coordinate systems. Industrial robot workstation is an automated production line mainly composed of industrial robots, which can achieve efficient, accurate, and continuous production processes. The industrial robot polishing workstation is a special type of industrial robot workstation that uses industrial robots to polish and polish metals or other hard materials. The composition of industrial robot workstations includes components such as industrial robots, control systems, workstation bodies, sensors, etc. These components work together to achieve efficient, accurate, and continuous production processes.
There are several coordinate systems in industrial robot workstations
There are six coordinate systems in industrial robot workstations, including geodetic coordinate system, base coordinate system, joint coordinate system, tool coordinate system, workpiece coordinate system, and user coordinate system. Among them, the base coordinate system is a Cartesian coordinate system used to describe the motion of the robot body based on the robot installation base. Any robot cannot do without a basic coordinate system, which is also a necessary basic coordinate system for robot TCP in three-dimensional motion space.
In industrial robot workstations, there are usually six main coordinate systems:
1. Geodetic coordinate system: It is a standard Cartesian coordinate system fixed in space, fixed in a predetermined position.
2. Base coordinate system: The base coordinate system is composed of the robot base point and coordinate position, and is the foundation of other coordinate systems of the robot.
3. Joint coordinate system: The joint coordinate system is the coordinate system set in the robot joint, which is the absolute angle of each axis relative to its origin position.
4. Tool coordinate system: The tool coordinate system is used to determine the position of the tool, consisting of the tool center point (TCP) and coordinate position.
5. Workpiece coordinate system: The workpiece coordinate system is used to determine the position of the workpiece, consisting of the workpiece origin and coordinate position.
6. User coordinate system: The user coordinate system is a customized Cartesian coordinate system for each workspace, used for teaching and executing position registers, executing position compensation instructions, and so on.
These coordinate systems are important components of industrial robots and contribute to their precise motion and operation.
What is an industrial robot workstation
Industrial Robot Workstation refers to a work unit that achieves various automated production tasks through industrial robots and corresponding peripheral devices in an integrated environment. It typically includes one or more robots, controllers, programmers, robot accessories and auxiliary equipment (such as welding power supplies, fixtures, pallets, sensors, etc.), as well as equipment for integrating and monitoring the entire workstation.
Industrial robot workstations are typically used to achieve the following types of automated tasks:
1. Assembly: Assemble various parts together to form a complete product;
2. Welding: Joining metal or other materials together to form a welded joint;
3. Grinding: Improve the surface smoothness of the workpiece through surface treatment methods such as grinding and polishing;
4. Spraying: Spray a protective layer on the surface of the workpiece to improve its anti-corrosion and wear resistance;
5. Handling: Moving materials from one location to another during the production process;
6. Packaging: Packaging the produced products for delivery to customers or markets;
7. Testing: Conduct quality testing on products during the production process to ensure production quality.
Industrial robot workstations can greatly improve production efficiency, reduce human errors, reduce production costs, and improve product quality and consistency. Workstations can be customized according to different production tasks to meet different production needs.
Industrial robot polishing workstation
The industrial robot polishing workstation is an automated production equipment, whose core components are one or more robots and corresponding peripheral equipment, such as polishing tools, force control systems, etc. This combination of equipment can independently complete specific polishing operations, therefore it can also be referred to as a polishing work unit.
There are two main working methods for the polishing workstation: one is to clamp the polishing tool through the end effector of the robot, actively contact the workpiece, and the workpiece is relatively fixed. This method is usually applied in situations where the robot has poor load capacity and the mass and volume of the processed workpiece are relatively large, and is called a tool type polishing robot; Another type is the robot's end effector holding the workpiece, which is polished by the workpiece in close contact with the polishing tool, which is relatively fixed. This method is usually applied in situations where the volume of the machining workpiece is small and there is a high requirement for polishing accuracy, and is called a workpiece type polishing robot. The force control technology of the polishing workstation is one of the core contents of the polishing robot, which can achieve constant force, constant speed, and constant elevation control according to the requirements of the polishing process.
The polishing workstation has two main characteristics: efficiency and stability. It can quickly and accurately execute production tasks, improve production efficiency, shorten production cycles, and thus have high efficiency; At the same time, due to the use of advanced force control technology and high-quality robot equipment, the polishing workstation has stable operating performance, which can ensure production quality and output, reduce production losses, and reflect stability. At present, polishing workstations have been widely used in many industries such as the 3C industry, hardware and furniture, medical equipment, automotive parts, and small household appliances.
Composition of industrial robot workstations
An industrial robot workstation is a system that integrates various automation equipment, tools, and technologies, used to achieve various manufacturing and processing tasks. The composition of industrial robot workstations mainly includes the following parts:
1. Industrial robot: It is the core component of a workstation, responsible for performing various automated tasks, such as assembly, handling, welding, polishing, spraying, etc. Industrial robots can adopt types such as articulated, SCARA, Delta, etc., and can be selected according to specific application requirements.
2. Controller: The controller is the brain of a robot, responsible for directing the robot's actions. The controller can receive input signals from programmers, sensors, etc., and process them to output signals to executing components (such as motors, cylinders, etc.).
3. Programmer: Programmer is used to program industrial robots, including setting the robot's motion trajectory, speed, force, and other parameters. Programmers can program robots through graphical interfaces or instruction languages.
4. Sensors and actuators: Sensors and actuators play important roles in industrial robot workstations. Sensors are used to detect real-time status of workstations, such as position, speed, temperature, etc. The actuator completes corresponding actions according to the instructions of the controller, such as opening and closing valves, controlling motors, etc.
5. Auxiliary equipment: Auxiliary equipment includes but is not limited to: welding power supply, pneumatic circuit, fixture, tray, shielding device, etc. These devices are selected and configured according to job requirements to complete specific production tasks.
6. Workstation controller: Workstation controller is an integrated control system used to monitor and manage the workflow of the entire workstation. It can coordinate the work of multiple industrial robots and auxiliary equipment, achieving automation, intelligence, and efficiency in the production process.
7. Safety system: The safety system includes protective barriers, safety gratings, safety relays, etc., used to ensure safety during operation. When abnormal situations occur at the workstation (such as personnel intrusion, equipment failure, etc.), the security system will immediately start to avoid safety accidents.
Through the collaborative work of the above parts, industrial robot workstations can achieve various automated manufacturing and processing tasks.
This article delves into the various coordinate systems that exist in industrial robot workstations. Firstly, it explains what industrial robot workstations are and their main types, such as industrial robot polishing workstations, and provides a detailed explanation of the various components and functions of workstations. In addition, the article emphasizes the important role of different coordinate systems in robot operation, and invites readers to share their insights and experiences to further enrich the discussion content. In summary, this comprehensive article aims to provide readers with comprehensive and practical knowledge related to industrial robot workstations, hoping to bring more thinking and inspiration.