Non-standard automation equipment has become the mainstream in the industrial sector
Industrial robots are composed of three basic parts: the main body, the drive system, and the control system. The main body includes the base and the executing mechanism, which consists of the arm, wrist, and hand. Some robots also have a walking mechanism. Most industrial robots have 3 to 6 degrees of freedom in motion, with the wrist typically having 1 to 3 degrees of freedom; the drive system includes the power device and transmission mechanism, which are used to enable the executing mechanism to produce corresponding movements; the control system sends command signals to the drive system and executing mechanism according to the input program and performs control. Industrial robots are divided into four types according to the motion form of the arm. The arm of the Cartesian coordinate type can move along three Cartesian axes; the arm of the cylindrical coordinate type can perform lifting, rotating, and extending movements; the arm of the spherical coordinate type can rotate, pitch, and extend; and the articulated arm type has multiple rotating joints.
Industrial robots can be further classified into point-to-point and continuous trajectory types based on the control function of the actuator's movement. The point-to-point type only controls the precise positioning of the actuator from one point to another, suitable for tasks such as loading and unloading machine tools, spot welding, and general handling, loading, and unloading operations. The continuous trajectory type can control the actuator to move along a given trajectory, suitable for tasks such as continuous welding and painting operations.
Industrial robots can be divided into two types based on the program input method: programming input type and teaching input type. The programming input type involves transmitting pre-programmed job files from a computer to the robot control cabinet through communication methods such as RS232 serial port or Ethernet. There are two teaching methods for the teaching input type: one is for the operator to use a manual controller (teaching pendant) to transmit command signals to the drive system, allowing the executing mechanism to perform the required sequence of actions and motion trajectory; the other is for the operator to directly lead the executing mechanism to perform the required sequence of actions and motion trajectory. During the teaching process, the information of the work program is automatically stored in the program memory. When the robot operates automatically, the control system retrieves the corresponding information from the program memory and transmits command signals to the drive mechanism, allowing the executing mechanism to reproduce the various actions taught. Industrial robots with teaching input programs are called teaching reproduction type industrial robots. Industrial robots with tactile, force sensing, or simple vision capabilities can work in relatively complex environments; if they have recognition functions or further enhanced adaptive and self-learning capabilities, they become intelligent industrial robots. They can adapt to the environment and automatically complete more complex tasks by following "macro instructions" given by humans and selecting or programming programs themselves.
Industrial robots can replace humans in industrial production to perform certain monotonous, frequent, and repetitive long-duration tasks, or tasks in hazardous or adverse environments. For example, they can be used in processes such as stamping, pressure casting, heat treatment, welding, painting, plastic product forming, machining, and simple assembly, as well as in sectors such as the atomic energy industry, to handle or process materials harmful to humans. Due to their versatility and adaptability, industrial robots can accommodate production of multiple varieties in small to medium batches and are often combined with numerically controlled machine tools, becoming an integral part of flexible manufacturing units or flexible manufacturing systems.
