Understanding industrial robots only requires knowledge of three systems: the body, the drive, and the control
On the stage of modern manufacturing, advanced production models such as smart factories, fully automated production lines, and black light factories are gradually becoming mainstream. In these scenarios, industrial robots are like shining stars, gradually replacing some of the human work on the production line and becoming a key force in the manufacturing industry. These intelligent machines capable of automated welding, spraying, handling, sorting, palletizing, and other operations may seem daunting, but in reality, the core components of industrial robots can be summarized into three main systems: mechanical structure system (robot body), driving system, and control system.
01 Mechanical body structure system
The mechanical structure system is the physical foundation of industrial robots, just like the skeleton of the human body, which provides support and the possibility of movement for robots. This system covers components such as the body, arms, wrists, and end effectors. The body serves as the foundation, carrying the weight of the entire robot; The arms are like human arms, responsible for stretching and grasping; The wrist endows the end effector with flexible posture adjustment ability; The end effector is like a human hand, directly in contact with the work object, completing specific operations such as welding and spraying.
02 Drive System
The drive system is the "heart" of industrial robots, responsible for providing power to mechanical structures. Common driving methods include electric drive (such as servo motor), hydraulic drive, and pneumatic drive. As a robot manufacturer, taking the Braun robot as an example, we use electric drive, with servo drive being the main method. This driving method has the advantages of high precision and fast response.
In terms of specific driving structure, the Braun robot consists of a motor and a reducer. The motor adopts an absolute value servo motor, which can accurately control the rotation angle and ensure the accuracy of the robot's motion. There are two types of reducers: RV reducers and harmonic reducers, which play a role in transmitting power and reducing speed between the motor and mechanical structure. The motor and reducer are generally connected using a reducer shaft or a wave generator, which can ensure the high efficiency and stability of power transmission.
Compared with other driving methods, electric drive is widely used in the field of industrial robots. Although hydraulic drive can provide significant power, there are issues with hydraulic oil leakage and high maintenance costs; Pneumatic drive is relatively weak in accuracy and force control. Electric drive can not only meet the power requirements of industrial robots, but also better achieve precise control and energy conservation and environmental protection.
03 Control System
The control system is the "brain" of industrial robots, responsible for receiving instructions and controlling the movement of drive systems and mechanical structures. Control systems typically include computers or high-performance chips (such as DSP, FPGA, ARM, etc.) that can achieve precise control of robot motion trajectories. The control system can also make real-time adjustments based on feedback signals to ensure the stability and reliability of the robot in complex environments.
Taking the control system of the BORUNTE robot as an example, the components of the control system include:
1. Robot system host: the central processing unit of the control system and the dispatch and command organization.
2. Teaching pendant: The teaching robot's work trajectory and parameter settings, as well as all interactive operations, have independent storage units.
3. Operation panel: generally composed of basic components such as buttons or buttons, indicator lights, etc., to complete basic functional operations or start stop.
4. Signal interface (IO module): IO interface that interacts with external devices or workstations.
5. Analog output interface: Input and output buttons for various states and control commands.
6. Servo module (servo driver): provides driving power for servo motors and controls them to send and receive position commands.
7. Network interface: ① CAN port: Multiple machines are connected through CAN communication. ② Ethernet interface: Multiple or single robots can directly communicate with a PC through Ethernet, supporting TCP/IP communication protocol.
8. Communication interface: Implement information exchange between robots and other devices, usually with serial interfaces.
The control system of the Braun robot has the following important functions:
• Memory function
Capable of storing machine parameters and operational parameters, such as angles and speeds of each axis of the robot.
Store the motion trajectory, mode, and speed for easy repetition of operations.
Save information related to production processes to ensure consistency in the production process.
• Teaching function
Support on-site local machine direct teaching, operators can manually guide the robot to complete the work trajectory, and the control system automatically records trajectory data.
The offline teaching function allows operators to program on the computer and then transfer the program to the robot, improving programming efficiency.
• Online functionality
Seamless connection and collaborative work between robots and external devices can be achieved through IO interfaces, network interfaces, communication interfaces, and digital interfaces.
Multi axis servo control function
Realize multi axis linkage or single action control to ensure that the robot can move accurately according to the preset trajectory.
The speed and acceleration control function enables the robot to flexibly adjust according to different work requirements.
The dynamic compensation function can make real-time corrections to errors in the robot's motion process, improving work accuracy.
• Security protection function
Operators can customize safety zones, and when the robot enters these zones, the control system will automatically slow down or stop to avoid collision accidents.
It is also possible to freely add motion area protection functions to ensure the safe operation of the robot within the specified working range.
Coordinate system function
Equipped with joint, absolute (right angle or world), tool, user and other coordinate systems, among which the tool and user coordinate systems can be customized by operators according to actual work needs, facilitating programming and operation.
• Fault diagnosis function
Capable of real-time monitoring of system operation status, the control system can automatically diagnose and issue warnings in a timely manner when faults occur, prompting operators to carry out maintenance and reducing downtime.
The three major systems of industrial robots work closely together, with the mechanical structure system providing the basis for motion, the drive system giving it power, and the control system precisely commanding and coordinating. It is this collaborative work that enables industrial robots to efficiently and safely perform tasks in complex and ever-changing industrial environments, becoming an indispensable production tool in modern manufacturing.