This paper introduces the structure, drive and technical indicators of industrial robots in detail through the combination of graphics and texts.
First, the commonly used kinematics configuration
1, Cartesian operating arm
Advantages: It is easy to implement by computer control, and it is easy to achieve high precision. Disadvantages: obstruction of work, large footprint, low speed of movement, poor sealing.
1 welding, handling, loading and unloading, packaging, palletizing, demolition, testing, flaw detection, sorting, assembly, labeling, coding, coding, (soft copy) spraying, target follow-up, detonation and other work.
2 It is especially suitable for a variety of varieties, and the flexible operation of batches plays an important role in stabilizing, improving product quality, improving labor productivity, improving labor conditions and rapidly updating products.
2, hinge type operating arm (joint type)
The joints of the joint robots are all rotating, similar to the human arm, the most common structure in industrial robots. Its scope of work is more complicated.
1 Rapid testing and product development of auto parts, molds, sheet metal parts, plastic products, sports equipment, glass products, ceramics, aviation, etc.
2 Three-coordinate measurement and error detection of manufacturing quality control such as body assembly and general mechanical assembly.
3 Rapid prototyping of antiques, artworks, sculptures, cartoon characters, portraits, etc.
4 vehicle vehicle on-site measurement and testing.
5 human body shape measurement, bone and other medical equipment production, body shape production, medical cosmetic and so on.
3, SCARA operating arm
SCARA robots are often used in assembly operations. The most notable feature is that they have greater flexibility in motion in the xy plane and strong stiffness along the z-axis, so they are selectively flexible. This type of robot has gained good application in assembly work.
1 large quantities for assembling printed circuit boards and electronic components
2 moving and picking up objects, such as integrated circuit boards, etc.
3 Widely used in the plastics industry, automotive industry, electronic products industry, pharmaceutical industry and food industry.
4 Move parts and assembly work.
4, spherical coordinate type operating arm
Features: The working range near the center bracket is large, and the two rotating drive devices are easy to seal, covering a large working space. However, the coordinates are complicated, difficult to control, and the linear drive device has a problem of sealing.
5, cylindrical coordinate operating arm
Advantages: The calculation is simple; the straight part can be driven by hydraulic pressure, which can output a large power; It can be inserted into the cavity machine. Disadvantages: The space that its arm can reach is limited, and it can't reach the space near the column or near the ground; the linear drive part is difficult to seal and dustproof; when the rear arm is working, the back end of the arm will touch other objects in the working range.
6, redundant mechanism
Usually spatial positioning requires 6 degrees of freedom, and the use of additional joints can help the organization avoid singular configurations. The figure below shows the 7-DOF operating arm configuration.
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