Six key problems about industrial robots
1. What is the definition of industrial robot?
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. It is characterized by programmability, personification, universality and electromechanical integration.
2. What are the subsystems of the industrial robot? What are their respective roles?
Drive system: The transmission device that makes the robot run.
Mechanical structure system: a multi degree of freedom mechanical system composed of body, arm and manipulator end tool.
Sensory system: It consists of an internal sensor module and an external sensor module to obtain information about the internal and external environmental status.
Robot environment interaction system: a system that realizes the interconnection and coordination between industrial robots and equipment in the external environment.
Man machine interaction system: It is a device for operators to participate in robot control and contact with robots.
Control system: control the robot's actuator to complete the specified movement and function according to the robot's work instruction program and the signal fed back from the sensor.
3. What is the degree of freedom of a robot? How many degrees of freedom do robot position operations require? How many degrees of freedom do attitude operations require?
Degrees of freedom refer to the number of independent coordinate axis movements of the robot, which 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 an 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?
Degrees 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 problems should be paid attention to in design?
The fuselage is a part supporting the arm, which generally realizes movements such as lifting, slewing and pitching. The fuselage shall be designed with sufficient stiffness and stability; The movement shall be flexible. The length of the guide sleeve for lifting movement shall not be too short to avoid jamming. Generally, a guide device shall be provided; The structural layout should be reasonable. The arm is a component that supports the static and dynamic loads of the wrist hand and the work piece, especially when moving at a high speed, it will produce a large inertial force, causing impact and affecting the accuracy of positioning.
When designing the arm, attention shall be paid to high rigidity, good guidance, light weight, stable movement and high positioning accuracy. Other transmission systems shall be as short as possible to improve transmission accuracy and efficiency; All components shall be arranged reasonably and easy to operate and maintain; Special consideration shall be given to special circumstances. The impact of thermal radiation shall be considered in high temperature environment. Corrosion prevention shall be considered in corrosive environment. Explosion prevention shall be considered for hazardous environment.
6. What role does the degree of freedom on the wrist play? 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, the wrist is required to rotate the three coordinate axes X, Y and Z in space. That is, it has three degrees of freedom of flip pitch and deflection.