What are the system components of industrial robots? What are their respective functions?
Robot is a machine that has more degrees of freedom in three-dimensional space and can realize many anthropomorphic actions and functions, while industrial robot is a robot used in industrial production. Its characteristics are: programmable, anthropomorphic, universal, electro mechanical integration.
What are the system components of industrial robots?
1. Main body
The main machinery is the base and the implementation mechanism, including the big arm, small arm, wrist and hand, forming a multi degree of freedom mechanical system. Some robots have other walking mechanisms. Industrial robots have 6 degrees of freedom or even more. The wrist generally has 1 to 3 degrees of freedom.
2. Drive system
The transmission device that makes the robot run. According to the power source, it can be divided into three categories: hydraulic, pneumatic and electric. According to the requirements, the drive system can be combined and compounded by these three examples. Or drive indirectly through mechanical transmission mechanisms such as synchronous belt, gear train and gear. The drive system has power device and transmission mechanism, which are used to implement the corresponding action of the mechanism. The three basic drive systems have their own characteristics. Now the mainstream is the electric drive system.
3. Control system
According to the robot's work instruction program and the signal fed back from the sensor, the robot's actuator is controlled to complete the specified movement and function.
The micro processor with high performance price ratio brings new development opportunities for robot controllers, making it possible to develop robot controllers with low cost and high functions. In order to enable the system to have sufficient computing and storage capacity, robot controllers now mostly accept strong ARM series, DSP series, POWERPC series, Intel series and other chips.
4. Perceptual system
It is composed of an internal sensor module and an external sensor module to obtain information about the internal and external environmental status.
Internal sensor: a sensor used to detect the state of the robot itself (such as the angle between arms), most of which are used to detect the position and angle. Specifically: position sensor, position sensor, angle sensor, etc.
External sensor: a sensor used to detect the robot's environment (such as object detection, distance from the object) and condition (such as whether the captured object slips). It includes distance sensor, vision sensor, force sensor, etc.
The use of intelligent sensor systems has improved the mobility, practicality and intelligence standards of robots. Human perception systems are dexterous to external world information. However, for some licensed information, sensors are more effective than human systems.
5. End actuator
The end effector is a part connected to the last joint of the manipulator. It is generally used to grab objects, connect with other mechanisms and perform the required tasks.