Label：Industrial Robots, Welding, Vacuum Robots, Dynamic Characteristics
Nov 14, 202013120
An industrial robot is a multi-joint manipulator or a multi-degree-of-freedom machine device oriented to the industrial field. It can perform work automatically and is a machine that realizes various functions by its own power and control capabilities. It can be commanded by humans, and it can also be run in accordance with pre-arranged programs. Modern industrial robots can also act according to the principles and guidelines formulated by artificial intelligence technology.
Robots are becoming more and more intelligent and are playing an increasingly important role in manufacturing companies. By promoting the innovation of the manufacturing industry through advanced IT and automation technology, the intelligence can be achieved, improving efficiency and reducing costs.
Application scenarios of industrial robots
In just over 50 years, robotics technology has developed rapidly. Among many manufacturing fields, the most widely used field of industrial robots is the automobile and auto parts manufacturing industry, and it is continuously expanding to other fields, such as Machinery processing industry, electrical and electronic industry, rubber and plastic industry, food industry, wood and furniture manufacturing industry and other fields.
In industrial production, industrial robots such as welding robots, grinding and polishing processing robots, welding robots, laser processing robots, spraying robots, handling robots, and vacuum robots have been widely adopted.
1. Grinding and polishing robot
Grinding and polishing robots are mainly used in aviation, navigation, and nuclear power blade grinding and polishing. Robots are used to grind and polish the surface of blades with abrasive belts. Flexible contact and visual positioning are used to reduce grinding and polishing defects.
Compared with manual grinding and polishing, it has the characteristics of short processing time, high profile accuracy, small surface roughness and good processing consistency. It can adapt to heavy load, harsh working environment and high precision requirements.
2. Welding robot
Arc welding robots are mainly used in the welding production of various auto parts. There are mainly two types of molten electrode welding operations and non-melting electrode welding operations.
In this field, international large-scale industrial robot manufacturers mainly provide unit products to complete equipment suppliers. Application features: fast and stable movement is required, and positioning accuracy is high.
3. Laser processing robot
Laser processing robots apply robotic technology to laser processing, and realize more flexible laser processing operations through high-precision industrial robots.
Through the automatic detection of the processed workpiece, the model of the processed part is generated, and then the processing curve is generated, and the CAD data can also be used for direct processing. It can be used for laser surface treatment, drilling, welding and mold repair of work pieces. The accuracy requirements are higher.
4. Vacuum robot
A vacuum robot is a kind of robot that works in a vacuum environment. It is mainly used in the semiconductor industry to realize the transfer of wafers in a vacuum chamber.
Vacuum manipulators are difficult to import, are restricted, have a large amount of use, and have strong versatility. They have become a key component that restricts the research and development progress of the complete semiconductor equipment and the competitiveness of the complete product. The accuracy requirements are higher.
5. Spraying robot
Paint spraying robots are generally hydraulically driven and have the characteristics of fast movement speed and good explosion-proof performance. Teaching can be realized by hand-to-hand teaching or point display.
Painting robots are widely used in craft production departments such as automobiles, meters, electrical appliances, and enamel. The spraying robot is in a harsh working environment, and its accuracy requirements are low.
6. Handling robot
The handling robot is controlled by a computer and has functions such as movement, automatic navigation, multi-sensor control, and network interaction. It can be widely used in flexible handling and transmission functions in various industries, and also used in automated warehouses, flexible processing systems, and flexible assembly systems ；
At the same time, it can be used as a means of transportation in items sorting at stations, airports, and post offices. The load is large and there is no strict accuracy requirement.
Industrial robot performance evaluation index
The basic parameters and performance evaluation index that represent the characteristics of the robot mainly include working space, freedom of movement, payload, accuracy, sped, dynamic characteristics, etc.
1. Work space
Work space refers to the set of positions in the space that a specific part of the robot arm can reach under certain conditions. The character and size of the working space reflect the size of the robot's working ability.
2. Freedom of movement
The degree of freedom of motion refers to the number of variables required for the robot manipulator to move in space. It is a parameter used to indicate the flexibility of the robot's motion. It is generally represented by the number of independent motions that move along the axis and rotate around the axis.
Free objects in space have six degrees of freedom (three degrees of freedom for rotation and three degrees of freedom for movement). An industrial robot is often an open link system, and each joint motion pair has only one degree of freedom. Therefore, the number of degrees of freedom of a robot is usually equal to the number of joints. The more degrees of freedom the robot has, the stronger the function.
The effective load refers to the weight of the object that the arm end of the robot manipulator may carry or the force or moment it can bear when the robot manipulator is working, which is used to indicate the load capacity of the manipulator.
When the robot is in different poses, the allowable maximum transportable mass is different, so the rated transportable mass of the robot refers to the maximum mass that can be transported by the wrist joint end of its arm in any posture in the working space.
The accuracy of the robotic mechanical system mainly involves pose accuracy, repeat pose accuracy, trajectory accuracy, and repeat trajectory accuracy.
The pose accuracy refers to the deviation between the command pose and the actual pose center when approaching the command pose from the same direction. Repeated pose accuracy refers to the degree of inconsistency in the actual pose after repeated responses to the same command pose from the same direction n times.
Trajectory accuracy refers to how close the robot mechanical interface follows the command trajectory from the same direction n times. Trajectory repeatability refers to the degree of inconsistency between trajectories after following n times in the same direction for a given trajectory.
Speed and acceleration are the main indicators that show the characteristics of robot movement. In the robot manual, the maximum stable speed of the main degrees of freedom of movement is usually provided, but it is not enough to simply consider the maximum stable speed in practical applications. Pay attention to its maximum allowable acceleration.
6. Dynamic characteristics
Dynamic characteristics The dynamic parameters of the structure mainly include mass, moment of inertia, stiffness, damping coefficient, natural frequency and vibration mode.