Detailed introduction to five mechanical structures of industrial robots
In terms of mechanical structure, industrial robots can be divided into single axis robots, Cartesian coordinate robot, horizontal multi joint robots (SCARA), vertical multi joint robots and parallel robots (Delta). These five types are described in the following order.
1. Single axis robot
Single axis robots are generally divided into two transmission modes, one is ball screw transmission, and the other is synchronous belt transmission. Both of them are guided by linear guide rails and cooperate with servo motors or stepping motors to achieve positioning, load transfer, transportation, etc. in different application fields. Through different combination styles, two axis, three axis and gantry type combinations can also be realized.
2. Cartesian coordinate robot
The Cartesian coordinate robot is based on X, Y, Z right angle coordinates, and works or moves within the length range of each coordinate. It is suitable for handling, taking and placing, etc. Its applications include the arm for taking out the injection molding machine, moving and positioning, stacking, locking screws, cutting, clamping, pressing, inserting, assembling, automatic pharmacy, etc.
3. Horizontal multi joint (SCARA) robot
Horizontal Compliance Assembly Robot Arm (SCARA for short) is a special type of industrial robot in cylindrical coordinates. There are generally 4 degrees of freedom, including translation along the X, Y, Z direction and rotation around the Z axis.
SCARA robot is characterized by small load and high speed, so it is mainly used in 3C industries such as rapid sorting, precision assembly, or food industry. For example, the traces of SCARA robots can be seen in the IC industry's wafers, panel handling, circuit board transportation, and the insertion and assembly of electronic components.
4. Vertical multi joint robot
The vertical multi joint robot has a fairly high degree of freedom and is suitable for any trajectory or angle work. It has the characteristics of three-dimensional motion and can achieve high-order nonlinear motion. It is the most widely used automatic mechanical device at present, commonly used in automobile manufacturers, automobile components and electronics related industries.
5. Delta robot
The parallel robot, also known as Delta robot, drives the active arm and passive arm to the end platform for displacement through three groups of dynamic structures of the upper platform, and can carry the fourth axis at the end or connect the fourth axis from the upper platform as the rotation axis.
Because of its simple structure, it can achieve the shortest distance in mobile, and its mechanism is easy to be miniaturized, which can achieve high-speed and high-precision control. Therefore, it is mainly used in high-speed picking and placing, screening operations, food industry, electronic inspection, pharmacy, packaging and other purposes. In general, a parallel robot can replace 4-6 workers, helping users effectively improve production efficiency and reduce production costs.