-
Industrial Robots
overview of
Robots
It
is
the
ancient
robot
in
early
appearance
and
developed
on
the
basis
of
research
into
the
middle of the
twentieth century manipulator, along with the
computer and automation technology
development, especially the first
digital electronic computer in 1946, since the
advent of computer
made amazing
progress, to high speed, high capacity, low price
direction. Meanwhile, the urgent
demand
of
mass
production
of
promoting
automation
technology
progress,
and
for
the
development of robots laid a
foundation. On the other hand, nuclear technology
research requires
certain
operating
machine
instead
of
people
handle
the
radioactive
substances.
In
this
one
requirement background, the United
States is developed in 1947, in 1948 and remote
control robot
developed mechanical
master-slave manipulator.
From the
United States began developing manipulators first.
In 1954 the United States first
suggested the wear wal-mart, and the
concept of industrial robot applied for patent.
This patent
point is using servo
technology control of the robot joints, using an
action on the robot hands, the
robot
can realize. Teaching movement recording and
playback. This is the so-called demonstration
emersion
robot.
The
existing
robots
are
using
this
kind
of
control
mode.
1958
united
control
company
developed
the
first
manipulator
riveting
robot.
As
the
earliest
practical
model
robot
products
(demonstration
reappearance)
is
1962 .
AMF
company
launched
and
UNIMATION
company
launched
These
industrial
robot
mainly
by
similar
man's
hands
and
arms
who
composed
it
can
replace
the
hard
labor
in
order
to
achieve
production
mechanization
and
automation,
can
in
harmful
environment
operation
to
protect
the
personal
safety and thus
widely used in mechanical manufacturing,
metallurgy, electronics, light industry
and atomic energy and other
departments.
Industrial robot CaoZuoJi
(by mechanical body), controller, servo drive
system and detection
sensor, making it
a humanoid operation, automatic control, can
repeat programming, can finish all
kinds
of
assignments
in
3d
space
the
electromechanical
integration
automation
production
equipment.
Particularly suitable for many varieties, change
of flexible production batch. It to help
stabilize, improve product quality,
raise efficiency in production, improve working
conditions and
product rapid renewal
plays an extremely important role.
Robotic
technology
is
integrated
with
computer,
cybernetics,
organization
learning,
information
and
sensing
technology,
artificial
intelligence,
bionics
science
and
the
formation
of
high
technology and new technology, is a very active,
contemporary study applied more and more
widely. Robot applications, is a
national industrial automation level of important
symbol.
Robot and not in the simple
sense of labor, but replace artificial
comprehensive people skills
and machine
a personification of the specialty of electronic
machinery, already someone on the
environment condition of rapid reaction
and the analysis judgment ability, and a machine
could be
longer duration of work, high
precision and the ability of resistance to bad
environment, in a sense
it
is
also
machine
process
of
evolution
product,
it
is
an
important
industrial
and
the
industry
production
and
service,
but
also
set
the
advanced
manufacturing
technology
field
indispensable
automation equipment.
Manipulator is part of the action
imitating the hands, according to the given
program, track
and
demanding
acquirement,
handling
or
operation
of
the
automatic
mechanical
device.
In
the
industrial
production
of
the
application
of
industrial
robots
called
Application
of
manipulator
can
be
used
to
increase
production
level
of
automation
production
and
labor
productivity:
can
reduce
labor
intensity,
assure
product
quality,
achieve
safety
production;
Especially in
high temperature, high pressure, low temperature,
low pressure and dust, explosive,
toxic
gases and radiation etc harsh environment, it
instead of human normal work, meaning more
significant.
Therefore,
in
the
mechanical
processing,
stamping,
casting,
forging,
welding,
heat
treatment, electroplating, paint,
assembly and light industry, transportation etc
widely quoted are
increasingly.
The
structure
of
the
manipulator
is
simpler,
specificity
form
began,
strong
for
a
machine
tool's
only
feeder,
and
was
attached
to
the
machine's
special
manipulator.
Along
with
the
development
of
industrial
technology,
made
by
an
independent
program
control
realization
repeated
operation,
suitable
scope
is
wider
control
general
manipulator
or
general
manipulator.
Due
to
the
change
of
general
manipulator
can
quickly
working
procedures,
good
adaptability,
so
it
continues
to
transform
the
medium
and
small
batch
production
products
gain
extensive reference .
of the manipulator
1)Actuators
Hand
Namely parts in contact with objects.
Due to the different forms of contact with
objects, can
be divided into clamping
type and adsorption the hands. Gripping type hand
fingers (or by PAWS)
and
power
transmission
institution
constitutes.
Fingers
are
in
direct
contact
with
the
object
of
components, common finger
movement forms have moved back to the
transformation of peace.
Back
to
the
transformation
of
simple
structure,
easy
fingers,
so
application
component
manufacturing
is
widely
applied
translation
type,
its
reason
is
less
complicated
structure,
but
translations
type
circular
parts,
fingers
clamping
workpiece
diameter
variation
do
not
affect
its
axis
position, therefore appropriate clamping diameter
variation range workpiece.
Finger
structure
by
grasping
object
depends
on
surface
shape,
caught
parts
(the
profile
or
within
hole) and object weight and dimensions. Common
refers to a flat, form the v-shaped finger
and surface: the clip type and inside
there supporting type; Index has double refers to
type, by type
and hands of double
refers to type, etc.
But
the
force
transmission
institution
is
produced
by
clamping
force
fingers
to
accomplish
the
task.
Put
objects
clips
Power
transmission
institutions
are:
the
more
commonly
used
type
sliding
channel,
connecting
lever
lever
type,
bevel
gear
lever
type,
type,
screw
nut
upper-and-lower, type
spring type and gravity type, etc.
Enclosed type hand made mainly by
chuck, it is to rely on adsorption force (such as
chuck
formed
in
the
negative
pressure
or
an
electric
suction
magnetic)
adsorption
objects,
the
corresponding adsorption hand have
negative pressure and electric disk two kinds of
suckers.
For light small flake parts,
smooth plate materials, usually with negative
pressure chuch suck
material. The way
cause negative pressure air suction and vacuum
pump type.
To
guide
magnetic
ring
type
and
the
plate
with
a
hole,
and
have
such
parts
of
sheet
etc
(meshes, usually use electro-magnetic
chuck suck material. The suction electro magnetic
chuch by
dc magnets and production.
Communication electromagnet.
With
negative pressure chuch and electro magnetic chuch
absorb charge, its shape, quantity,
suckers absorbability size, according
to adsorb object shape, size and weight size and
decide.
In addition, according to
special needs, the hand and spoon type (such as
casting manipulator
poured bag part),
Joe type (such as cold gear machine up-down
material manipulator hand) type.
Wrist
Hand and arm is connected components,
and can be used to adjust the position by grasping
object . posture).
Arm
The arm is supporting caught objects,
hand, an important part of the wrist. The arm's
role is
to
drive
to
grab
objects,
and
fingers
predetermined
asks
its
handling
to
the
location
specified.
Industrial
manipulator
arm
often
moving
parts
by
driving
arm
(such
as
oil
cylinder,
cylinders,
rack-and pinion
institutions, link mechanism, screw mechanism and
CAM mechanism, etc.) and
drive
source
(such
as
hydraulic
and pneumatic
or
motor,
etc.),
in
order
to
realize
the
combined
arms all kinds of
sports.
The arm in telescopic or
lifting movement, in order to prevent around its
axis rotation, need a
guide device, to
ensure that the finger on the correct direction
movement. In addition, orientation
device can bear arms were bending
moment and torsion moment when turning or arm
movement
in start-up, brake generated
at the moment of inertia, make the moving parts
stress state is simple.
Orientation
device
structure
form,
commonly
used
are:
single
cylinder,
double
cylindrical,
four cylinder
and v-shaped chamfer, swallow tail trough etc
oriented form.
Pillar
Pillar
is supporting the arm parts, pillar also can be
part of the arm and arm turn movement
and lift (or pitch) movement are and
pillar are closely linked. Manipulator to usually
set for fixed,
but need because of the
job, sometimes also can make lateral movement,
namely called will move
a type bar.
Walk Institutions
When
industrial robots need to complete a remote
operation, or expanded use scope, the same
seat
installation
roller,
rail,
etc,
in
order
to
realize
the
mobile
mechanism
of
the
machine
movement. Industrial robots Roller type
can be divided into the mobile mechanism of sounds
and
two trolley. Drive roller motion
should be additional mechanical transmission
device.
Base
Seating is
basic parts of manipulator, manipulator actuator
components and the drive system
are
installed in on standby, so the role of the
support and links.
2)Drive system
Drive system is driving industrial
robots actuators movement of the power unit,
usually by
power supply, the control
adjusting device and auxiliary device component.
The drive system used