What is the definition of industrial robot?

Industrial robots refer to multi-joint manipulators or multi-degree-of-freedom machine devices that are widely used in the industrial field. They have a certain degree of automation and can rely on their own power energy and control capabilities to achieve various industrial processing and manufacturing functions.

The operating environment of this tutorial: Windows 7 system, Dell G3 computer.

Definition of industrial robots (robots for the industrial field)

Industrial robots are multi-joint manipulators or multi-freedom robots that are widely used in the industrial field. A high degree of machine device with a certain degree of automation, which can rely on its own power energy and control capabilities to achieve various industrial processing and manufacturing functions.

Industrial robots are widely used in various industrial fields such as electronics, logistics, and chemicals.

Composition of industrial robots

Generally speaking, industrial robots are composed of three parts and six subsystems.

The three major parts are the mechanical part, the sensing part and the control part.

The six subsystems can be divided into mechanical structure system, drive system, perception system, robot-environment interaction system, human-computer interaction system and control system.

1. Mechanical structure system

From the perspective of mechanical structure, industrial robots are generally divided into series robots and parallel robots. The characteristic of the tandem robot is that the movement of one axis will change the coordinate origin of the other axis, while the movement of one axis of the parallel robot will not change the coordinate origin of the other axis. Early industrial robots all used series mechanisms. A parallel mechanism is defined as a closed-loop mechanism in which the moving platform and the fixed platform are connected through at least two independent kinematic chains. The mechanism has two or more degrees of freedom and is driven in parallel. The parallel mechanism has two components, the wrist and the arm. The arm activity area has a great impact on the activity space, and the wrist is the connection part between the tool and the main body. Compared with series robots, parallel robots have the advantages of large rigidity, stable structure, large load-bearing capacity, high micro-motion accuracy, and small motion load. In terms of position solution, the forward solution of the series robot is easy, but the inverse solution is very difficult; on the contrary, the forward solution of the parallel robot is difficult, but the inverse solution is very easy.

2. Drive system

The drive system is a device that provides power to the mechanical structure system. According to different power sources, the transmission modes of the drive system are divided into four types: hydraulic, pneumatic, electrical and mechanical. Early industrial robots were hydraulically driven. Because the hydraulic system has problems such as leakage, noise, and low-speed instability, and the power unit is bulky and expensive, currently only large heavy-duty robots, parallel processing robots, and some special applications use hydraulic-driven industrial robots. Pneumatic drive has the advantages of fast speed, simple system structure, convenient maintenance and low price. However, the working pressure of the pneumatic device is low and it is difficult to position accurately. It is generally only used to drive the end effector of industrial robots. Pneumatic hand grippers, rotating cylinders and pneumatic suction cups can be used as end effectors for grabbing and assembling workpieces with medium and small loads. Electric drive is the most commonly used driving method at present. It is characterized by easy access to power, fast response, large driving force, convenient signal detection, transmission and processing, and can adopt a variety of flexible control methods. The drive motor generally adopts stepper control. Currently, direct drive motors are also used for electric motors or servo motors, but the cost is higher and the control is more complicated. The reducer that matches the motor generally uses a harmonic reducer, a cycloidal pinwheel reducer or a planetary gear reducer. Due to the large number of linear drive requirements in parallel robots, linear motors have been widely used in the field of parallel robots.

3. Perception system

The robot perception system converts various internal state information and environmental information of the robot from signals into signals that can be understood and applied by the robot itself or between robots. Data and information, in addition to the need to perceive mechanical quantities related to its own working status, such as displacement, speed and force, visual perception technology is an important aspect of industrial robot perception. The visual servo system uses visual information as a feedback signal to control and adjust the position and attitude of the robot. Machine vision systems are also widely used in various aspects of quality inspection, workpiece identification, food sorting, and packaging. The perception system consists of internal sensor modules and external sensor modules. The use of smart sensors improves the robot's mobility, adaptability and intelligence.

4. Robot-environment interaction system

The robot-environment interaction system is a system that realizes the interconnection and coordination between robots and equipment in the external environment. The robot and external equipment are integrated into a functional unit, such as processing and manufacturing unit, welding unit, assembly unit, etc. Of course, multiple robots can also be integrated into a functional unit to perform complex tasks.

5. Human-computer interaction system

The human-computer interaction system is a device for people to communicate with robots and participate in robot control. For example: computer standard terminal, command console, information display panel, danger signal alarm, etc.

6. Control system

The task of the control system is to control the robot's actuator to complete specified movements and functions based on the robot's operating instructions and the signals fed back from the sensors. If the robot does not have information feedback characteristics, it is an open-loop control system; if it has information feedback characteristics, it is a closed-loop control system. According to the control principle, it can be divided into program control system, adaptive control system and artificial intelligence control system. According to the form of control motion, it can be divided into point control and continuous trajectory control.

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