Robot is a comprehensive technology, a small robot, which is the comprehensive crystallization of automatic control, measurement, computer technology, artificial intelligence technology, machinery, materials and communication technology. So what high technologies are involved in industrial robots? What is the current progress of these high technologies?
robot manipulator structure
Through the application of modern design methods such as finite element analysis, modal analysis and simulation design, the optimal design of robot operating mechanism is realized. Explore new high-strength lightweight materials to further improve the load / weight ratio. For example, the robot company represented by KUKA company in Germany has changed the parallel parallelogram structure of the robot to an open chain structure, which has expanded the working range of the robot. In addition, the application of light aluminum alloy materials has greatly improved the performance of the robot.
In addition, the use of advanced RV Reducer and AC servo motor makes the robot operator almost a maintenance free system. The mechanism is developing towards modularization and reconfiguration. For example, the servo motor, reducer and detection system in the joint module are integrated; The whole robot is constructed by the joint module and the connecting rod module; Modular assembly robot products have been sold abroad. The structure of the robot is more dexterous and the control system is smaller and smaller. The two are developing towards integration. Using parallel mechanism and robot technology to realize high-precision measurement and machining is the expansion of robot technology to NC technology, which lays a foundation for the integration of robot and NC technology in the future.
robot control system
Open and modular control system. Develop towards the 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; The reliability, operability and maintainability of the system are greatly improved. The performance of the control system has been further improved. It has developed from the 6-axis robot which used to control the standard in the past to the 21 axis or even 27 axis robot, and has realized software servo and all digital control. The man-machine interface is more friendly, and the language and graphical programming interface are being developed. The standardization and networking of robot controller and the network controller based on PC have become a research hotspot. In addition to further improving the operability of on-line programming, the practicability of off-line programming will become the focus of research, and off-line programming in some fields has been practical.
robot sensing technology
According to Yijian Intelligent Manufacturing Institute, the role of sensors in robots is becoming more and more important. In addition to traditional sensors such as position, speed and acceleration, assembly and welding robots also apply laser sensors, vision sensors and force sensors, and realize automatic tracking of welds, automatic positioning of objects on automatic production lines and precision assembly operations, The working performance and adaptability to the environment of the robot are greatly improved. Remote control robot uses multi-sensor fusion technology such as vision, sound, force and touch to model the environment and make decision control. In order to further improve the intelligence and adaptability of the robot, the use of multiple sensors is the key to solve the problem. Its research focus is on effective and feasible multi-sensor fusion algorithms, especially in the case of nonlinear, non-stationary and non-normal distribution. Another problem is the practicability of the sensing system.
network communication function
The latest robot controllers of Yaskawa in Japan and KUKA in Germany have realized the connection with CANbus, PROFIBUS and some networks, which makes the robot a big step from independent application to networked application, and also makes the robot develop from special equipment to standardized equipment.
robot remote control and monitoring technology
For welding or other operations in some high-risk environments such as nuclear radiation, deep water and toxicity, remote-controlled robots need to work instead of people. The development feature of contemporary remote control robot system is not the pursuit of full autonomous system, but the human-computer interactive control between operator and robot, that is, remote control and local autonomous system constitute a complete monitoring and remote control operating system, so that the intelligent robot can go out of the laboratory and enter the practical stage. The SOJINA robot launched by the United States to Mars is the most famous example of the successful application of this system. The coordinated control between multiple robots and operators can establish a large-scale robot remote control system through the network, and establish a pre display for remote control in the case of time delay.
