What is the structure and working principle of industrial robots?
1. Working principle of industrial robot
Industrial robot is a kind of production equipment, whose main function is to ensure the movement and power required for work. Its main working principle is to realize the operation function and technical requirements of handicrafts automatically through the movement of the moving parts of the manipulator. Therefore, in terms of basic functions and basic working principles, industrial robots and machine tools have the same characteristics: their terminal drivers have the requirements of position change, and the position change of terminal drivers requires coordinate movement. Of course, robots also have their own unique requirements, mainly in the form of joints. Robots need great flexibility, with relatively low requirements for rigidity and accuracy.
2. Industrial robot design system
The functions of the robot can be divided into four parts: operator, terminal starter, sensor system and controller. Operator: consists of base, hand and wrist, transmission mechanism, drive system, etc. Its function is to change a certain workspace on the wrist and adjust the wrist so that the terminal driver can meet the operation requirements. Terminal starter: also known as industrial robot hand, it is an industrial robot part installed on the wrist, allowing to directly grasp or operate the work piece. Sensor system: it means that robot can complete work as efficiently as human. Sensory function The external sensory function should be evaluated. Tactics are usually related to robot control. Vision is used to detect the existence of objects, their approximate positions, positions and other states. On the other hand, touch can help you see clearly. It can detect the fine state of an object. Controller: The robot control system is the brain of the robot and the main factor determining the function and performance of the robot. It mainly controls the movement position, position and track, working sequence and operation time of industrial robot in the workspace. It has the characteristics of simple programming, software menu operation, friendly human-computer interface, fast and convenient online operation, etc. The control system used by the robot includes: point and contour; Synchronous and asynchronous; Digital and analog. The special scheme of the control system can be selected according to the technical and economic requirements of the robot and the characteristics of the process task.
3. Determination of wrist structure
The wrist is the part that connects the hand and the terminal trigger. Its task is to realize three positions of the hand and seat terminal driver in the workspace, and four positions (directions) of the terminal driver in the workspace, that is, three degrees of freedom of rotation. Connect and support the terminal drive through the mechanical interface. The degree of freedom is determined according to the performance requirements of the robot.
4. Selection of harmonic gear
Harmonic gear reducer is a new type of mechanical transmission mechanism. Compared with traditional transmission, it has small, light and simple structure. Compared with the traditional reducer with equivalent transmission, its parts are reduced by 50%. Reduce volume and weight by about 1, 3 or more. Large transmission ratio range (single stage transmission ratio 40 ～ 350, multi-stage transmission ratio up to 16000 ～ 10000), high transmission efficiency (single stage efficiency ≥ 85%), high transmission accuracy, and strong bearing capacity. Depending on the engine selected.
5. Robot bearing design
Ball bearings are the most commonly used bearings for robots and mechanical mechanisms. It can withstand radial and axial loads. Low friction. Four point contact design and high-precision machining of robot special bearings. This bearing is 25 times lighter than the traditional four point contact bearing. Its inner ring (or outer ring) is exactly composed of two half rings. The radius of curvature of the entire outer ring (or inner ring) groove is very small, so the steel ball contacts the inner ring and outer ring at four "points". It not only increases the radial load, but also can bear the shaft load in two directions in a compact size. Because of its relatively small shaft clearance, it has a good ability to limit the shaft in both directions.