Article catalogue:
- 1 、Model thesis on Industrial Robotics
- 2 、Each student writes the steps to manually operate the industrial robot to carry 4 pallets to the barrel (repeat the steps, too?
- 3 、What are the structures of the handling robot?
- 4 、Palletizing programming method of Industrial Robot
Model thesis on Industrial Robotics
Nowadays, with the social and economic development, robots begin to be widely used in various industries to carry out some complex and heavy physical work for workers, which can reduce people’s work burden. The following is a sample paper on industrial robot technology sorted out by me. I hope it can be helpful to everyone!
Industrial Robot Technology thesis Fan Wen part 1: “talking about the Application of Industrial Robot in Industrial production”
Industrial robot is a multi-joint manipulator or multi-degree-of-freedom robot for industrial field. Industrial robot is a machine device that performs work automatically, and it is a kind of machine that realizes various functions by its own power and control ability. It can be directed by humans or run according to pre-programmed programs, and modern industrial robots can also act according to the principles laid down by artificial intelligence technology. The application of industrial robot in industrial production is discussed.
Key words: industrial robot application industry
1 introduction
Industrial robots were first used in the automobile manufacturing industry, often used in welding, painting, loading, unloading and handling. Industrial robot extends and expands the functions of human hands, feet and brain. it can replace people to work in dangerous, harmful, toxic, low temperature, high heat and other harsh environment, and complete heavy and monotonous repetitive work instead of people. improve labor productivity and ensure product quality. Industrial robot, NC machining center, automatic handling trolley and automatic detection system can form flexible manufacturing system and computer integrated manufacturing system to realize production automation.
2 the main application of industrial robots
(1) poor working environment and dangerous work in the military and nuclear industries, some jobs are harmful to human health and life-threatening, or unsafe and unsuitable for human beings to do, industrial robots are the most appropriate. Such as nuclear plant equipment inspection and maintenance robots, boiling water reactor fuel automatic exchanges in the nuclear industry.
(2) the fields of special operation and extreme operation, such as volcanic exploration, deep-sea secret exploration and space exploration, are beyond the reach of human beings, and only robots can carry out operations. Such as the manipulator used on the space shuttle to recover satellites; remote-controlled marine robots for undersea mining and salvage.
(3) the early industrial robots in the field of automatic production were mainly used for machine tool loading, blanking, spot welding and painting. The most widely used manufacturing industries include motor manufacturing, automobile manufacturing, plastic forming, general machinery manufacturing and metal processing. With the emergence of flexible automation, robots play a more important role in the field of automated production. The following is a brief introduction to the application of industrial robots in the field of automatic production.
2.1 Welding robot
Spot welding robot industrial robot is first used in automobile spot welding, and spot welding robot is widely used in welding thin plate parts of car body. Generally speaking, it takes about 3000 to 4000 solder joints to assemble and weld a car body, 60% of which are done by spot welding robots. In some large quantities of automobile production lines, the number of spot welding robots in service is even as high as more than 150.
The main performance requirements of the spot welding robot are as follows: small installation area, large workpiece space, fast completion of multi-point positioning with small pitch, high positioning accuracy (0. 25 mm) to ensure welding quality, weight (490-980N) to carry welding pliers with built-in transformer, simple teaching and man-hour saving
2.2 Arc welding robot
Arc welding robot is used in the welding process of continuous combination of welding metal, most of which can complete automatic wire feeding, melting electrode and gas shielded welding. Arc welding robot has a wide range of applications, in addition to the automotive industry, in general machinery, metal structures and many other industries. The arc welding robot should be a welding system including all kinds of welding accessories, not just a single machine with a welding torch moving at a planned speed and posture. The basic composition of the arc welding robot is shown in figure 1. The main arc welding methods suitable for robot applications are inert grip shielded welding, hybrid shielded welding, submerged arc welding and plasma arc welding.
1-robot control cabinet 2-welding power supply 3-gas cylinder 4-gas Flowmeter 5-gas path 6-welding wire wheel 7-flexible conduit 8-arc welding robot 9-wire feeding robot 10-welding torch 11-workpiece cable 12-welding cable 13-control cable
Fig. 1 basic composition of arc welding robot system
The main performance requirements of the arc welding robot: in the arc welding operation, the welding torch is required to track the bead movement of the workpiece and constantly fill the metal to form the weld bead. Therefore, the speed stability and trajectory are two important indexes in the process of movement. in general, the welding speed is about 5: 50 mm/s and the trajectory accuracy is about. 2 ~ 0. 5) mm; because the attitude of the welding torch also has a certain influence on the weld quality, it is hoped that the adjustable range of the welding torch attitude can be as large as possible while tracking the welding bead. In addition, there are some other performance requirements, these requirements include: setting welding conditions (current, voltage, speed, etc.), jitter function, groove filling function, welding anomaly detection function (arc break, workpiece melting) and welding sensor interface function (initial solder joint detection, weld bead tracking).
2.3 painting robot
Spray painting robot is widely used in spray painting of automobile body, household appliances and all kinds of plastic products. The painting robot has the following characteristics in terms of environment and action requirements:
(1) the air in the working environment contains explosive spray vapors.
(2) it moves at a high speed along the track, and all the points passing through are the work points.
(3) most of the painted parts are carried on the conveyor belt and spray paint as they move. The articulated painting robot is shown in figure 2.
2.4 handling robot
With the development of computer integrated manufacturing technology, logistics technology and automatic warehousing technology, handling robot is more and more widely used in modern manufacturing industry. The robot can be used in the processing of parts, and the loading, unloading, storage and transportation of materials and auxiliary measuring tools can be used to send parts from one conveying device to another, or to remove the machined parts from one machine tool and install them on another machine tool.
2.5 Assembly robot
Assembly plays a very important role in modern industrial production. Relevant statistics show that the amount of assembly labor accounts for 50% to 60% of the labor volume of product production, and on some occasions, the proportion is even higher. For example, in the chip assembly and circuit board production of the electronic device factory, the assembly labor accounts for 70% ~ 80% of the production labor. Therefore, it is very important to use robots to realize automatic assembly operations.
2.6 Robot flexible assembly system
The robot officially entered the field of assembly work around 1980, around the first year of the popularity of robots. In the early days, the robot was mainly used to replace the manual work on the assembly line, and then the assembly line with robot as the main body appeared soon. The application of assembly robot has greatly promoted the progress of assembly production automation. The flexible automatic assembly system established by the assembly robot can automatically assemble small and medium-sized and moderately complex products, such as motors, pump gearboxes, etc., which is especially suitable for the assembly of small and medium-sized batch productions. it can realize automatic loading and unloading, transmission, detection, assembly, monitoring, judgment, decision-making and other functions.
Robot flexible assembly system usually takes the robot as the center, and has many peripherals, such as parts supply device, workpiece conveying device, fixture, smear and so on. However, if there are too many kinds of parts, the whole system will be too large and the efficiency will be reduced, which is not desirable. In the robot flexible assembly system, the number of robots can be selected according to the output, while the peripherals such as parts supply devices depend on the types of parts and jobs. Therefore, compared with the assembly line, the less the output, the greater the investment of the robot flexible assembly system.
3 concluding remarks
Industrial robot is a kind of system technology based on the technology of mechanical, electronic, electronic computer and automatic control and other disciplines; it can also be said to be a knowledge-intensive, technology-intensive, interdisciplinary and integrated high and new technology. With the progress and development of these related disciplines and technologies, industrial robot technology will certainly develop and improve rapidly.
The second part of the model paper on industrial robot technology: “discussing the development trend of industrial robot”
With the development of social economy, robots have been widely used in various industries to carry out some complex and heavy manual work for workers. At present, robot is a typical representative of manufacturing and automation equipment, which will be the “ultimate” version of man-made machines. Its application has involved many disciplines and fields, such as information, automation, intelligence, sensor and knowledge. at present, it is the best integration of high-tech achievements in our country and even in the world. Its development is closely related to the development of many disciplines. According to the current development trend, the scope of application of industrial robot is more and more extensive, at the same time, in the technical operation, it has become more and more standardized and standardized to improve the safety of industrial robot. On the other hand, the development of industrial robot is becoming more and more miniaturized and intelligent, and it is more and more widely used in human life.
Key words Safety in the field of intelligent application of industrial robots
With the complex needs of society, industrial robots are more and more widely used in the field of application. On the one hand, industrial robots are widely used in industrial production to replace workers’ dangerous, complex and monotonous long-time operations, such as mechanical processing, pressure casting, plastic forming and metal products industry. at the same time, it is also used in high-risk sectors such as the atomic energy industry, which has been widely used in developed countries. On the other hand, industrial robots are also widely used in other fields. with the rapid development of science and technology, the performance and safety performance of industrial robots have been improved. The scope of application has broken through the industry, especially in the medical industry.
I. the development of industrial robots
The first generation robot generally refers to the programmable robot and remote control manipulator which are widely used in industry. The programmable robot can complete some simple and repetitive tasks according to the program compiled by the operator. The remote control operation mechanism depends on the operator to send out every step. In 1982, General Motors of the United States equipped the robot with a vision system on the assembly line, thus announcing the advent of the second generation of robot-perceptual robot. This generation of robots, with external sensors, can be programmed offline. With the support of the sensor system, it has the function of perceiving the environment to varying degrees and correcting the program itself. The third generation robot is an autonomous robot, which is being developed and developed in many countries. It not only has the perception function, but also has the ability of decision-making and planning. Be able to make decisions and plan actions according to people’s orders or according to the environment, that is, programming according to tasks.
Robot research in China started relatively late. Since the beginning of the “Seventh five-year Plan”, the state has invested money to tackle key problems of industrial machinery and its parts, and completed the research and development of a complete set of teaching and reproducible industrial robot technology. The national high-tech research and development plan began to be implemented in 1986, and the intelligent robot theme tracks the forefront of robot technology in the world. After several years of research, a large number of scientific research achievements have been achieved, and a number of special robots have been successfully developed.
Industrial robot in China started in the early 1970s. After more than 30 years of development, it has roughly experienced three stages: the embryonic period in the 1970s, the development period in the 1980s and the applicable period in the 1990s.
The 1970s was a milestone in the world’s scientific and technological development: man landed on the moon and achieved the soft landing of Venus and Mars. Our country has also launched man-made satellites. The application of industrial robots has set off one of the most exciting parts of the world, especially in Japan, which complements the growing shortage of labor. Under this background, our country began to develop its own industrial robot in 1972.
After entering the 1980s, under the impact of the high-tech wave, with the deepening of reform and opening up, the development and research of robot technology in China has been valued and supported by the government. During the Seventh five-year Plan period, the state invested money to tackle key problems of industrial robots and their parts, completed the development of a complete set of technology for teaching and reproducing industrial robots, and developed spraying, spot welding, arc welding and handling robots. The National High Technology Research and Development Program (863 Program) began to be implemented in 1986. Intelligent robots track the forefront of robot technology in the world. After several years of research, a large number of scientific research achievements have been achieved, and a number of special robots have been successfully developed.
Since the early 1990s, China’s national economy has entered two periods of fundamental transformation, setting off a new round of economic system reform and technological progress. China’s industrial robots have taken a big step forward in practice. Industrial robots for various uses such as spot welding, arc welding, assembly, spray painting, cutting, handling, packaging and palletizing have been developed, and a number of robot application projects have been implemented. A number of robot industrialization bases have been formed, which has laid the foundation for the take-off of China’s robot industry.
China’s industrial robots have made great progress through the support of the Seventh five-year Plan, the Ninth five-year Plan and the 863 Plan, and the industrial robot market has become mature and has been widely used in various industries.
The key points of the development of industrial robot technology in China in the future are as follows: first, dangerous and harsh environment working robots: mainly anti-riot, high-voltage electrified cleaning, planet detection, oil and steam pipelines and other robots; second, medical robots: mainly brain surgery auxiliary robots, remote control operation auxiliary bone correction robots, etc.; third, bionic robots: mainly mobile robots, network remote control operation robots and so on. Its development trend is intelligence, low cost, high reliability and easy integration.
Second, the development trend of industrial robots
Robot is a typical representative of advanced manufacturing technology and automation equipment, and it is the “ultimate” form of man-made machines. It involves many disciplines and fields, such as machinery, electronics, automatic control, computer, artificial intelligence, sensor, communication and network, etc., and is a comprehensive integration of a variety of high-tech development achievements, so its development is closely related to the development of many disciplines. Nowadays, the main development trends of industrial robots are as follows: first, the performance of industrial robots continues to improve (high speed, high precision, high reliability, easy operation and maintenance), while the price of a single machine continues to decline. Second, the mechanical structure is developing towards modularization and reconfiguration. For example, the servo motor, reducer and detection system in the joint module are integrated; the joint module and connecting rod module are reorganized to construct the robot. Third, the industrial robot control system develops to an open controller based on PC, which is convenient for standardization and networking; the device integration is improved, the control cabinet is becoming smaller and smaller, and the modular structure is adopted, which greatly improves the reliability, ease of operation and maintainability of the system. Fourth, the role of sensors in robots is becoming more and more important. in addition to the traditional position, speed, acceleration and other sensors, vision, force, sound, touch and other multi-sensor fusion technology has been maturely applied in the product system. Fifth, robotic machinery began to rise. Since the “virtual axis machine tool” was developed in the United States in 1994, this new device has become one of the hotspots of international research, and has explored and opened up its practical application fields.
The overall trend is to transfer from the concept of robot in the narrow sense to the concept of robot technology in the broad sense, and from the industrial robot industry to the robot technology industry of solution business. The connotation of robot technology has become an intelligent system with practical action function and flexible application of robot technology. The structure of the robot is becoming more and more dexterous, the control system is getting smaller and smaller, its intelligence is getting higher and higher, and is developing in the direction of integration.
III. Challenges and prospects for the Development of Industrial Robots in China
China’s industrial foundation is weak, and the development of industrial robots has been in a preliminary stage. Although our country began to develop industrial robots in the 1970s, there is a lack of technical strength and the technological blockade of western countries. In the process of development, there are many problems. Broken down, there are the following points:
First of all, the manufacturing capacity of basic parts in our country is poor. Although China has a certain foundation in related parts, there is a large gap between China and foreign countries in terms of quality, comprehensive product range and batch supply. Especially in the high-performance AC servo motor and precision reducer, the gap is particularly obvious, resulting in the import of key parts, affecting the price competitiveness of robots in our country.
Second, China’s robots have not yet formed their own brand. Although there are a number of enterprises engaged in the development of robots, they have not formed a large scale, lack of brand recognition in the market, and have been facing the crackdown of foreign robot brands in the robot market. As a mature industry, foreign robots adopt the whole machine price reduction to attract domestic enterprises to buy, while in the follow-up strategy of high cost of maintenance spare parts, gradually occupy the Chinese market.
Third, there is a lack of awareness and few policies to encourage industrial robot products. The manufacturing and application level of industrial robots represents the manufacturing level of a country. We must understand the importance of developing China’s industrial robot industry from a national perspective, which is an important means and way for China to transform from a big manufacturing country to a manufacturing power. □
References:
Ren Jun. Research on robot-aided surface automatic polishing system for melt injection rapid modeling. Huazhong University of Science and Technology, 2006.
Zhong Xinhua, Cai Zixing, Zou Xiaobing. Research on motion control system design and control algorithm of mobile robot. Journal of Huazhong University of Science and Technology (Natural Science Edition), No. 1, 2004.
[3] Zhang Zhongying. Robot neural network control system based on genetic algorithm. Taiyuan University of Technology, 2005.
Li Lei, Ye Tao, Tan Min, Chen Xijun. Research status and future of mobile robot technology. Robot, No. 05, 2002.
Du Yuhong, Li Xiuren. Design of pneumatic handling manipulator for assembly unit of production line. Hydraulic and Pneumatic, 2006 05.
[6] Xu Xiaofeng. Research on real-time control of robot based on serial communication technology. Nanjing Forestry University, 2005.
Model article 3 of industrial robot technology paper: “on the mechatronics of industrial robot”
1 the application status of mechatronics technology
1.1 Industrial robots.
The emergence of industrial robots can replace human labor to a certain extent. Industrial robots are an ideal choice for workplaces with high radiation, high noise pollution and high concentration of harmful gases. The development of industrial robots has gone through three stages. the first generation of industrial robots have a low degree of intelligence and can only carry out simple repeated movements through preset programs, which can not cope with the ever-changing working environment and jobs. With the development of science and technology, on the basis of the first generation robot, through the application of various sensors, it can carry out some adaptive work through the acquisition, analysis, processing and feedback of environmental information to the action unit. although the degree of intelligence of this kind of robot is low, it has been successfully applied in some specific fields. Today, when the mechatronics technology is relatively mature, the intelligent level of the third generation robot has been greatly improved. It can collect information and data through powerful sensors, and make judgments similar to the human brain according to the actual situation. Therefore, it can work independently in a variety of environments, but the cost is high, which limits the practical application to a certain extent.
1.2 distributed control system.
Compared with the centralized control system, the distributed control system controls and directs multiple computers responsible for field measurement and control through a central computer. Because of its powerful function and security, it has become the mainstream technology of the current large-scale mechatronics system. According to the actual situation, the level of the distributed control system can be divided into two levels, three levels or more, and the real-time monitoring, management and operation control of the field production process can be completed by the central computer. At the same time, with the continuous development and innovation of measurement and control technology, the distributed control system can also realize the functions of real-time scheduling, on-line optimization, statistical management of production plan and so on. It has the advantages of rich functions, high reliability, convenient operation, low failure rate, easy maintenance and expandability, so the reliability of the system is greatly improved.
2 the development trend of mechatronics technology
2.1 artificial intelligence.
Artificial intelligence is to make industrial robots or CNC machine tools simulate the intelligence of the human brain, so that they have a certain ability of reasoning and judgment, logical thinking and independent decision-making in the production process, which can greatly improve the degree of automation of the industrial production process. Even the realization of real unattended is of great significance to reduce labor costs and improve processing accuracy and work efficiency. At present, artificial intelligence has not only stayed in the concept, so it can be predicted that mechatronics technology will develop in the direction of artificial intelligence. Although it is impossible for robots or CNC machine tools to have the human mode of thinking and intellectual characteristics at the current level of science and technology, in industrial production, making these mechatronics equipment have some human functions can be achieved through advanced technology.
2.2 networking.
The development of network technology provides convenient conditions for remote monitoring and remote control of mechatronics equipment. Therefore, the combination of network technology and mechatronics technology will be the focus of the development of mechatronics technology. In the process of production, operators need to walk back and forth in the workshop, master the status of the equipment, and operate the operation panel of the machine tool. By establishing a communication protocol between the mechatronics equipment and the control terminal, and realizing the transmission of information and data through optical fiber and other media, remote monitoring and operation can be realized, the amount of labor of workers can be reduced, and various functions of the control system can be realized. Theoretically, it is based on network technology.
2.3 Environmental protection.
In the recent decades of the development of human society, although the economy has developed rapidly and people’s living standards have been significantly improved, however, the development model at the expense of resources and environment has seriously polluted the environment on which human beings depend for survival. therefore, with the sustainable development strategy put forward today, the development of any technology should be based on the premise of being friendly to the environment, otherwise there will be no future. Therefore, ring preservation is the inevitable trend of the development of mechatronics technology. In the process of mechatronics application, through the efficient use of resources and achieving standard emissions or even zero emissions in the manufacturing process, the products have no impact on the ecological environment in the process of use. even after scrapping, it can also be effectively recycled, which is the specific form of environmental protection of mechatronics technology, which meets the requirements of sustainable development.
2.4 Modularization.
As there are many manufacturers of mechatronics devices, modularization will be a very promising research direction in order to reduce the cost of system upgrading and provide convenience for maintenance. Through the modular transformation of the functional unit, the corresponding functional module can be directly assembled or replaced when the function needs to be added or changed. even if there is a failure, only the damaged module can be replaced, and the work efficiency is extremely high. the enhancement of versatility saves a lot of costs for enterprises.
2.5 built-in energization.
Mechatronics has higher requirements for electric power, if there is no sufficient power supply, it will affect the production efficiency, even due to the loss of data caused by power outage, so the power supply can always be maintained through the equipment-equipped power energy system. to make the system run more smoothly.
3 conclusion
To sum up, the application of mechatronics technology can greatly improve the production efficiency and precision of products, and has greater technical advantages in the current industrial production. I believe that with the development of science and technology, the technical level of mechatronics will also be continuously improved. to make greater contributions to industrial production.
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Each student writes the steps to manually operate the industrial robot to carry 4 pallets to the barrel (repeat the steps, too?
1. The offset direction of this program is done according to the upper right, lower right, upper left and lower left of the perspective in your picture.
2. Pabb1 and pabb11 are roll calls.
3, the drop point does not know whether you put it down slowly or as soon as you throw it away. I dropped it when I got to the position. If you want to put the pieces accurately, you can use the offs function with counting.
What are the structures of the handling robot?
The handling robot is composed of three parts: executive mechanism, driving mechanism and control mechanism.
1. Executive agency
1) hand
The part of the hand that is in direct contact with the workpiece is generally transformational or translational (mostly transformational because of its simple structure). The hands are mostly two fingers (there are also multiple fingers); according to the need, they can be divided into external grasping type and internal grasping type; negative pressure or vacuum air sucker (mainly used for absorbable, smooth surface parts or thin plate parts) and electromagnetic sucker can also be used.
There are many forms of force transmission mechanism, which are commonly used: chute lever type, connecting rod lever type, inclined wedge lever type, gear rack type, screw nut type, spring type and gravity type. The hand of this design chooses the clamping class to transform the structure of the hand. The execution of the hand depends on the telescopic movement of the rod to realize its opening and closing movement. the power source of the rod comes from the hydraulic cylinder of the follow-up driving source. the hydraulic cylinder uses a telescopic hydraulic cylinder, which can save horizontal working space.
2) wrist
The wrist is a part that connects the hand and the arm, and can be used to adjust the orientation of the grasped object, so as to expand the action range of the manipulator and make the manipulator more dexterous and adaptable. The wrist has independent degrees of freedom. There are rotary motion, up and down swing, left and right swing. In general, the wrist is equipped with rotary motion and adding a swing up and down to meet the work requirements. For some special manipulators with relatively simple movements, in order to simplify the structure, they can directly use the arm motion to drive the hand to move the workpiece without setting up the wrist.
At present, the most widely used rotary motion mechanism of the wrist is the rotary hydraulic cylinder, which has compact structure, dexterity but small rotation angle (generally less than 270), and requires strict sealing, otherwise it is difficult to ensure stable output torque. Therefore, in the case of large rotation angle, rack transmission or sprocket and gear train structure are adopted. The wrist of the designed handling robot is to realize the rotational motion of the hand 180.
The wrist is driven directly, because the wrist is installed at the end of the arm, so it must be designed to be very compact so that the drive source can be installed on the wrist. The opening and closing of the robot hand is driven by a double-acting single-plunger hydraulic cylinder, while the rotary motion of the wrist is realized by a rotary hydraulic cylinder. The shell of the clamping piston cylinder is connected with the moving plate of the swinging cylinder; when oil is fed into different oil cavities in the rotary hydraulic cylinder, the rotation of the wrist in different directions can be realized.
3) arm
The arm part is an important holding part of the manipulator. Its function is to support the wrists and hands (including work or fixtures) and drive them to do spatial movements.
The purpose of arm movement: to send the hand to any point within the range of motion in space. If you change the posture (orientation) of the hand, it is achieved with the degree of freedom of the wrist. Therefore, generally speaking, the arm has three degrees of freedom to meet the basic requirements, that is, the extension, left and right rotation, lifting (or pitching) movement of the arm.
The various movements of the arm are usually realized by driving mechanisms (such as hydraulic cylinders or cylinders) and various transmission mechanisms. from the analysis of the force on the arm, it is subject to the static and dynamic loads of the wrist, hands and workpieces. and its own movement is more, the force is complex. Therefore, its structure, working scope, flexibility, grasping weight and positioning accuracy directly affect the working performance of the manipulator. This design realizes the up and down movement of the arm, the forward and backward expansion, and the slewing movement of the arm. Arm motion parameters: telescopic stroke: 1200mm; telescopic speed: 83mm; lifting stroke: 300mm; lifting speed: 67mm; rotation range: 180mm. The expansion of the robot arm changes the working length of the arm. In the cylindrical coordinate structure, the maximum working length of the arm determines the diameter of the cylindrical surface that can be reached at the end of the arm. The telescopic arm mechanism can be driven directly by hydraulic cylinder.
4) Machine base
The frame is the basic part of the fuselage robot and plays a supporting role. For the fixed robot, it is directly connected to the ground, and for the mobile robot, it is installed on the mobile structure. The fuselage is composed of arm movement (lifting, translation, rotation and pitching) mechanism and related guiding devices, supporting parts, etc. Moreover, the driving devices or transmission parts of the lifting, turning or pitching movements of the arm are installed on the fuselage. The more the movement of the arm, the more complex the structure and force of the fuselage. The fuselage of the lifting robot of this graduation design is selected to lift back to transform the fuselage structure; the configuration type of the arm and fuselage adopts the column type single arm configuration, and its driving source comes from the rotary hydraulic cylinder.
2. Driving mechanism
The driving mechanism is an important part of the handling robot. According to the different power sources, the driving mechanism of industrial manipulator can be divided into four types: hydraulic, pneumatic, electric and mechanical drive.
(1) hydraulic transmission. With a large power volume ratio, often used in large load occasions; pressure, flow are easy to control, stepless speed regulation; responsive, can achieve continuous trajectory control, convenient maintenance; but the liquid is sensitive to temperature changes, oil leakage is easy to catch fire; small and medium-sized special manipulators or robots are used, heavy manipulators are mostly hydraulically driven; the cost of hydraulic components is high, and the oil circuit is more complex.
(2) pneumatic transmission. The pneumatic system is simple, low cost, suitable for situations with fast beat, small load and low precision, and is often used for point control, grasping, elastic holding and vacuum adsorption, which can be high-speed, but the impact is serious, and accurate positioning is difficult; maintenance is simple, can be used in high temperature, dust and other harsh environment, leakage is not affected; small and medium-sized special manipulators or robots are used.
(3) Electric power. There are asynchronous motor, DC motor, stepper or servo motor and other electric drive methods. The motor is easy to use, and with the improvement of material performance, the performance of the motor is also gradually improved. at present, it is mainly suitable for medium load, especially for industrial robots and all kinds of micro-robots with complex movements and strict trajectories.
(4) Brake:
Brake and its function: brake is a device that releases the energy of mechanical motion into heat energy, so as to reduce or stop the mechanical speed of movement. it can be roughly divided into two types: mechanical brake and electric brake. In a robot mechanism, you learn to use brakes as follows:
Instant stop and need to take safety measures under special circumstances of ①
When there is a power outage in the ②, it prevents the movement part from slipping and damaging other devices.
Mechanical brake:
There are several kinds of mechanical brakes, such as spiral automatic loading brake, disc brake, brake shoe brake and electromagnetic brake. One of the most typical is the electromagnetic brake.
The servo motor is often used in the driving system of the robot. The characteristic of the servo motor determines that the electromagnetic brake is an indispensable part. In principle, this kind of brake is a disc brake braking by spring force, only when the excitation current passes through the coil, the brake opens, then the brake does not play a braking role, and when the power supply disconnects the coil without excitation current, the normally closed mode of braking under the action of spring force. Therefore, this kind of brake is called unexcited electromagnetic brake. And because this kind of brake is often used in safety braking occasions, it is also called safety brake.
Electric brake
A motor is a device that converts electrical energy into mechanical energy, on the contrary, it also has the power generation function of converting rotating mechanical energy into electrical energy. In other words, the servo motor is a kind of energy conversion device, which can convert electrical energy into mechanical energy, and can also achieve the purpose of braking through its reverse process. However, for different types of motors such as DC motor, synchronous motor and induction motor, appropriate braking circuits must be adopted respectively.
3. Control mechanism
The core of constructing robot platform is to establish the control system of robot. First of all, we need to choose and hardware platform, the control system hardware platform has a great impact on the openness, implementation and development workload of the system. The commonly used control system hardware platform should meet the following requirements: the hardware system is based on the standard bus mechanism and has scalability; the hardware structure has the necessary real-time computing capability; and the hardware system is modularized. easy to add or change a variety of interfaces, sensors and special computers; low cost. Up to now, the hardware platform of general robot control system can be roughly divided into two categories: the system based on VME bus (Versamodel Eurocard’s first generation 32-bit industrial open standard bus introduced by Motorola in 1981) and the system based on PC bus. In recent years, with the rapid development of PC performance, the reliability has been greatly improved, but the price has been greatly reduced. The control system with PC as the core has been widely accepted by the robot control field.
Palletizing programming method of Industrial Robot
Palletizing programming of industrial robots:
1) what is palletizing?
Regular mobile robots for grasping and placement
2) how to simplify the palletizing program
Set the workpiece coordinate system and the tool to teach the first palletizing placement point, and the spacing and number of xyz directions can be set.
3) how to create palletizing programming
Write the program with the instructor, the procedure is as follows:
1RJ PR [1] 100% FINE; move to standby position P1
2:LBL [1]; label 1
3RJ PR [2] 100% FINE; move to standby position P2
4:WAIT RI [12] = ON; wait for the grab position to have material.
5RV L PR [3] 100mm/sec FINE; move to grab position P3
6:WAIT 1.00 (sec); wait for 1s
7:RO [11] = ON; grip closure valve ON
8:WAIT RI [11] = ON; wait for the handle closure switch ON
9:RO [11] = OFF; grip closure valve OFF
10:PALLETIZING-B_1
11RV J PAL_1 [Aq1] 80% FINE; move to approach point
12L PAL_1 [BTM] 100mm/sec FINE; move to the stack point
13:RO [10] = ON; handle opening valve ON
14:WAIT RI [10] = ON; wait for the grip to open the switch ON
15:RO [10] = OFF; handle opening valve OFF
16L PAL_1 [Rang1] 100mm/sec FINE; move to fallback point
17:PALLETIZING-END_1
18:JUMP LBL [1]; Jump to label 1
4) precautions
The main results are as follows: (1) in order to improve the action accuracy of palletizing, it is necessary to set TCP correctly.
(2) palletizing registers should avoid using other pallets with the same number at the same time.
(3) the palletizing function plays a role when the three instructions, namely palletizing instruction, palletizing action instruction and palletizing end instruction exist in one program. Even if only one instruction is copied into the subroutine for teaching, the function will not work properly and should be noted. (4) the palletizing number is automatically written together with the palletizing instruction, the palletizing action instruction and the palletizing end instruction after teaching the stacking data. There is no need to care whether the palletizing number is used repeatedly in other programs (each program has the data of the palletizing number).
(5) in the palletizing action instruction, you may not set “C” (circular motion) in the action type.
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