Chapter 130

Lei Tiantang in his private laboratory without equipment on the first floor began to classify the received robots, and then began his dismantling activities. In recent days, all kinds of robots he bought online have been sent here, so he also bought professional dismantling equipment, brought a computer and began to work in the laboratory.

In the process of dismantling, Lei Tiantang also summarized the composition of these robots. At present, these robots are typical mechatronics products, which are generally composed of five parts: mechanical body, control system, sensor, driver and I / O system interface.

In order to precisely control the body, its sensors provide the information of the robot body or its environment. The control system generates command signals according to the control program. By controlling the drivers of the motion coordinates of each joint, the end points of each arm can reach the specified position in space according to the required trajectory, speed and acceleration. The driver transforms the output signal of the control system into high-power signal to drive the actuator to work.

The general robot is basically such a structure, because the business is not very skilled at the beginning, so Lei Tiantang began to dismantle the robot with lower price.

The functions of these robots are relatively single. They can only be used to complete some uncomplicated work, and the control program is very rigid. So Lei Tiantang spent a day dismantling one of each kind, leaving them alone. Later, he found that some robots with similar functions were similar to the control program, so he changed the operation details It's over. It's meaningless to continue to dismantle these low-end products.

Of course, these robots are not useless at all. Some robots are still innovative in design, which provides some ideas for him to design his own robots in the future, but it is not completely in vain.

Leaving those low-end products behind, Lei Tiantang began to study those industrial robots. The functions of these industrial robots are roughly the same, that is, they are used to replace human beings to deal with boring and repetitive work, or to replace human beings to carry out some dangerous work. Their composition will be a little more complicated.

The industrial robot system is mainly composed of three parts and six subsystems. The three parts are: mechanical part, sensing part and control part. Six subsystems are: drive system, mechanical structure system, feeling system, robot environment interaction system, human machine interaction system, control system.

1、 Drive system: industrial robot manipulator, in order to make the robot run, it is necessary to install the transmission device for each joint, that is, each movement degree of freedom, which is the drive system. The driving system can be hydraulic transmission, pneumatic transmission, electric drive, or a combination of them; it can be directly driven or indirectly driven by mechanical transmission mechanisms such as synchronous belt, chain, gear train and harmonic gear.

2、 Mechanical structure system: industrial robot is a kind of mechanical parts to complete various movements. The system is composed of bones (rods) and joints (kinematic pairs) connecting them. It has multiple degrees of freedom, including hand, wrist, arm, body and other parts.

3、 Control system: adopt modular hardware structure and open software architecture based on computer, it can be flexibly adapted according to your equipment and your special requirements. In addition, it has a variety of extended functions, so that your control system can easily adapt to a variety of changing new production tasks. Enables you to be flexible to change and ensure the competitive advantage of the product.

4、 Sensing system: sensors are configured in industrial robots. Among the internal sensors of industrial robots, position sensors and speed sensors are indispensable components in robot feedback control. The function of external sensors of industrial robots is to detect the working objects and environment or the relationship between robots and them. Tactile sensors, visual sensors, force sensors, proximity sensors, ultrasonic sensors and hearing sensors are installed on the robots, which can greatly improve the working conditions of robots and enable them to complete complex tasks more fully.

5、 Environment interaction system: human computer interaction system is an important part of intelligent machines such as intelligent robots. Human beings perceive and operate the information of the machine system through contact interaction, and intelligent machines perceive and operate the environment through the contact interaction system, so as to realize the harmonious natural interaction between people and the environment, so that the human intelligence and skills can be integrated into the intelligent machine through the contact interaction system.

6、 Interaction system: all functions of general industrial robot manipulator are decided by the internal integrated lock of its mechanical part, sensing part and control part. However, the operation ability of industrial robot also depends on the connection and cooperation with external environment, that is, the interaction ability between industrial robot and environment. The interaction between industrial robot and external environment includes your hardware environment and software environment.

Of course, for a complete robot system, only one robot body is far from enough, and many supporting measures are needed. The practical application can be completed after system integration.

When Lei Tiantang assembled several similar robots from different manufacturers for experimental operation, he found a detail that had to be said, that is, the accuracy of these robots.

Precision refers to the accuracy of the robot reaching the specified point. It is related to the resolution of the driver and the feedback device.Most industrial robots have a precision of 0.001 inch or higher, which does not mean that the products with high price have high precision. It is estimated that the application environment is different. Anyway, the result of Lei Tiantang's detection is like this. Some robots with high price have no higher precision than those with lower price.

Then Lei Tiantang asked them to keep running and check their respective repetition accuracy, which is also an important technical parameter. After all, these robots are used for some repetitive work, so can't the precision fluctuate from high to low?

Repetition accuracy refers to the accuracy of robot reaching the same position if the action is repeated several times. For example, suppose that the driving robot reaches the same point 100 times. Because many factors will affect the position accuracy of the robot, it is impossible for the robot to reach the same point accurately every time, but it should be within a circle with the point as the center. The radius of the circle is formed by a series of repeated actions. This radius is the repetition accuracy.

Repetition accuracy is more important than accuracy. If a robot positioning is not accurate enough, a fixed error will be displayed, which can be predicted, so it can be corrected by programming.

If a robot always deviates 0.01mm to the right, then all the position points can be offset by 0.01mm inch to the left, thus eliminating the deviation. If the error is random, it cannot be predicted and therefore cannot be eliminated. The weight accuracy limits the range of this random error, which is usually measured by running the robot repeatedly for a certain number of times.

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