Non-standard automation equipment has become the mainstream of the industrial industry

The industrial robot consists of three basic parts: the main body, the drive system and the control system. The main body is the base and the actuator, including the arm, the wrist and the hand, and some robots also have a walking mechanism. Most industrial robots have 3 to 6 degrees of freedom of movement, of which the wrist usually has 1 to 3 degrees of freedom of movement; the drive system includes a power device and a transmission mechanism to make the actuator produce corresponding actions; the control system is based on the input The program sends out command signals to the drive system and the actuator, and controls it. Industrial robots are divided into four types according to the movement form of the arm. The arm of the Cartesian coordinate type can move along three Cartesian coordinates; the arm of the cylindrical coordinate type can be lifted, rotated and telescopic; the arm of the spherical coordinate type can be rotated, pitched and telescopic; the arm of the articulated type has multiple Rotate the joint.

According to the control function of the actuator movement, industrial robots can be divided into point type and continuous trajectory type. The point type only controls the accurate positioning of the actuator from one point to another, and is suitable for machine tool loading and unloading, spot welding, general handling, loading and unloading, etc.; the continuous trajectory type can control the actuator to move according to a given trajectory, suitable for continuous welding and Painting, etc.

    According to the program input method, industrial robots can be divided into two types: programming input type and teaching input type. The programming input type is to transmit the programmed operation program files on the computer to the robot control cabinet through RS232 serial port or Ethernet and other communication methods. There are two teaching methods of teaching input type: one is that the operator uses the manual controller (teach pendant) to transmit the command signal to the driving system, so that the actuator can be operated according to the required action sequence and motion trajectory. ; The other is that the operator directly drives the actuator, and performs it according to the required action sequence and motion trajectory. During the teaching process, the information of the working program is automatically stored in the program memory. When the robot works automatically, the control system detects the corresponding information from the program memory, and transmits the command signal to the driving mechanism, so that the actuator can reproduce the teaching process. various actions. An industrial robot that teaches an input program is called a teaching-reproducing industrial robot. Industrial robots with tactile, force or simple vision can work in more complex environments; if they have recognition functions or further increase adaptive and self-learning functions, they become intelligent industrial robots. It can adapt to the environment according to the "macro instructions" given by people or by self-programming, and automatically complete more complex tasks.

    In industrial production, industrial robots can replace people to do some monotonous, frequent and repetitive long-term operations, or operations in dangerous and harsh environments, such as stamping, pressure casting, heat treatment, welding, painting, plastic product forming, In the process of mechanical processing and simple assembly, as well as in the atomic energy industry and other departments, the transportation or process operation of materials harmful to human body is completed. Because industrial robots have certain versatility and adaptability, they can adapt to the production of medium and small batches of various varieties. Often combined with numerically controlled machine tools, it becomes an integral part of flexible manufacturing cells or flexible manufacturing systems.