Industrial robots consist 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 and walking mechanisms. 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 motion; the drive system includes a power unit and a transmission mechanism for the actuator to generate corresponding actions; the control system is input according to the input The program signals and controls the drive system and the actuator.
Industrial robots are divided into four types according to the movement of the arms. The rectangular coordinate type arm can move along three orthogonal coordinate coordinates; the cylindrical coordinate type arm can be used for lifting, turning and telescopic movement; the spherical coordinate type arm can be rotated, pitched and telescopic; the articulated arm has multiple Rotate the joint.
The industrial robot is controlled by the movement of the actuator, and can be divided into a point type and a continuous track type. The point type only controls the accurate positioning of the actuator from one point to another, and is suitable for machine loading and unloading, spot welding and general handling, loading and unloading, etc.; continuous path type control actuator can move according to a given trajectory, suitable for continuous welding and Painting and other operations.
Industrial robots are classified into two types: program input type and teach input type. The programming input type is to transfer the programmed program files on the computer to the robot control cabinet through RS232 serial port or Ethernet communication.
There are two teaching methods for teaching input type: one is that the operator uses a manual controller (teaching operation box) to transmit the command signal to the drive system, so that the actuator can perform the required action sequence and motion trajectory. The other is that the operator directly leads the actuator and performs it according to the required sequence of motions and motion trajectories. At the same time of the teaching process, the information of the working program is automatically stored in the program memory. When the robot automatically works, the control system detects the corresponding information from the program memory, and transmits the command signal to the driving mechanism, so that the executing mechanism reproduces the teaching. Various actions. The industrial robot that teaches the input program is called a teaching and 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, self-learning functions, they become intelligent industrial robots. It can adapt to the environment according to the "macro" selection or self-programming given by people, and automatically complete more complicated work.
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