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This article mainly explains "what is the system composition of the industrial robot of the server". The content of the explanation in the article is simple and clear, and it is easy to learn and understand. let's go deep into the editor's train of thought. Let's study and learn "what are the systems of the industrial robot of the server"?

Industrial robot refers to the multi-joint manipulator or multi-degree-of-freedom machine device widely used in the industrial field, which has a certain degree of automaticity, and can rely on its own power energy and control ability to achieve a variety of industrial processing and manufacturing functions.

The operating environment of this tutorial: windows7 system, Dell G3 computer.

Definition of industrial robots (robots for industrial fields)

Industrial robot is a multi-joint manipulator or multi-degree-of-freedom machine device which is widely used in industrial field. it has a certain degree of automaticity and can rely on its own power energy and control ability to achieve a variety of industrial processing and manufacturing functions.

Industrial robots are widely used in electronics, logistics, chemical and other industrial fields.

The composition of industrial robots

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

The three 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 point of view of mechanical structure, industrial robots are generally divided into series robots and parallel robots. The characteristic of the series robot is that the motion of one axis changes the coordinate origin of the other axis, while the motion of one axis of the parallel robot does not change the coordinate origin of the other axis. The early industrial robots used series mechanism. The parallel mechanism is defined as a closed-loop mechanism in which the moving platform and the fixed platform are connected by at least two independent kinematic chains, and the mechanism has two or more degrees of freedom and is driven in parallel. The parallel mechanism has two components, namely the wrist and the arm. The arm movement area has a great influence on the activity space, and the wrist is the connecting part between the tool and the main body. Compared with the series robot, the parallel robot has the advantages of large stiffness, stable structure, large bearing capacity, high fretting precision and low motion load. In the position solution, the forward solution of the series robot is easy, but the inverse solution is very difficult, while the parallel robot is on the contrary, the forward solution is difficult, the inverse solution is very easy.

two。 Driving system

The drive system is a device that provides power to the mechanical structure system. According to the different power sources, the transmission mode of the drive system can be divided into four types: hydraulic type, pneumatic type, electric type and mechanical type. Early industrial robots were driven by hydraulic pressure. Due to the leakage, noise and low-speed instability of the hydraulic system, and the clunky and expensive power unit, there are only large heavy-duty robots, parallel machining robots and industrial robots driven by hydraulic pressure in some special applications. Pneumatic drive has the advantages of high speed, simple system structure, convenient maintenance, low price and so on. However, the working pressure of the air pressure device is low, so it is not easy to locate accurately, so it is generally only used to drive the end effectors of industrial robots. Pneumatic hand grasping, rotating cylinder and pneumatic sucker can be used as end effectors for grasping and assembling workpieces with medium and low loads. Electric drive is the most widely used driving mode at present, which is characterized by convenient access to power supply, fast response, large driving force, convenient signal detection, transmission and processing, and can adopt a variety of flexible control modes. the driving motor generally adopts stepper motor or servo motor, but the direct drive motor is also used at present, but the cost is high and the control is complicated. The reducer matched with the motor generally uses harmonic reducer, cycloid pinwheel reducer or planetary gear reducer. Due to the large number of linear driving requirements in parallel robots, linear motors have been widely used in the field of parallel robots.

3. Perceptual system

The robot perception system transforms all kinds of internal state and environmental information of the robot from signals to data and information that can be understood and applied by the robot itself or between robots. In addition to the need to perceive the mechanical quantity related to its own working state, 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 system has also been widely used in quality inspection, workpiece identification, food sorting and packaging. The sensing system consists of an internal sensor module and an external sensor module. The use of intelligent sensors improves the mobility, adaptability and intelligence of the robot.

4. Robot-environment interaction system

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

5. Human-computer interaction system

Human-computer interaction system is a device for human and robot to contact and participate in robot control. For example: computer standard terminal, command console, information display board, danger signal alarm and so on.

6. Control system

The task of the control system is to control the actuator of the robot to complete the prescribed motion and function according to the working instructions of the robot and the signals fed back from the sensor. If the robot does not have the information feedback characteristics, it is an open-loop control system; if it has the 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.

Thank you for your reading. the above is the content of "what systems are made up of the industrial robots of the server". After the study of this article, I believe you have a deeper understanding of the problem of which systems the industrial robots of the server are composed of. the specific use of the situation also needs to be verified in practice. Here is, the editor will push for you more related knowledge points of the article, welcome to follow!

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