key technology

1. Key technologies of ontology design

(1) Transmission structure design

Draw up the overall scheme, determine the structural form of the robot, and carry out the preliminary transmission structure design, part structure design and three-dimensional modeling. The designer is required to be very familiar with and understand the common structural forms of the robot, the common transmission principle and transmission structure, the types and characteristics of the reducer, and have strong structural design ability and experience.

(2) Reducer selection

Have a deep understanding of the structure type and performance parameters of the reducer, and be able to select, calculate and check the reducer. Be able to detect and test the reducer, mainly including noise, jitter, output torque, torsional stiffness, back clearance, repeated positioning accuracy and positioning accuracy. The vibration of the reducer will cause the jitter at the end of the robot and reduce the trajectory accuracy of the robot. There are many reasons for reducer vibration, among which resonance is a common problem. Robot enterprises must master the methods to suppress or avoid resonance.

(3) Motor selection

Must have a good understanding of the working characteristics of the motor, and be able to calculate and check the motor torque, power and inertia.

(4) Simulation analysis

Carry out static and dynamic simulation analysis, check the selection of motor and reducer, check the strength and stiffness of body parts, reduce the weight of body, improve the working efficiency of robot and reduce the cost. The modal analysis of the three-dimensional model and the calculation of the natural frequency are helpful to suppress the resonance.

(5) Reliability design

The structural design adopts the most simplified design principle; The body iron castings are made of nodular cast iron with good comprehensive properties, and the aluminum castings are made of casting materials with good fluidity and cast by metal mold; Detailed assembly process instructions shall be provided for assembly, and component and uniaxial tests shall be carried out during assembly; After assembly, complete machine performance test and durable copy machine test shall be carried out; Improve the protection grade design of the whole machine and improve the anti-interference ability of the electric cabinet, so as to be suitable for use in different working environments.

2. Key technologies of motor servo

(1) Motor

① Lightweight

For the robot, the size and weight of the motor are very sensitive. One of the key technologies of the robot motor is to improve the efficiency of the servo motor, reduce the space size and weight of the motor through the research of high magnetic material optimization, integrated optimization design, processing and assembly process optimization and so on.

② High speed

When the reduction ratio cannot be adjusted greatly, the maximum speed of the motor directly affects the end speed and work beat of the robot; Moreover, too low speed ratio will affect the inertia matching of the motor, so improving the maximum speed of the motor is also one of the key technologies of the robot motor.

③ Direct drive, hollow

With the continuous maturity and promotion of cooperative robots, the requirements for lightweight and compactness of robot structure are improved. The development of special motors for robots such as high torque direct drive motor and disk hollow motor is also a trend in the future.

(2) Servo

① Fast response and precise positioning

The servo response time directly affects the rapid start and stop effect of the robot, and affects the working efficiency and beat of the robot.

② Elastic collision without sensor

Safety is an important index to measure the performance of robot. Adding force or torque sensors will make the structure more complex and the cost higher. The sensorless elastic collision technology based on the current coupling relationship between encoder and motor can improve the safety of the robot to a certain extent without changing the body structure and increasing the body cost.

③ Drive in one, drive control in one.

Drive multi-in-one, multi-core CPU, multi axis drive control integration technology, improve system performance and reduce drive volume and cost.

④ Online adaptive chattering suppression

The cantilever structure of industrial robot is easy to cause jitter in multi axis linkage, heavy load and rapid start and stop. The stiffness of the robot body should match the servo stiffness parameters of the motor. Too high stiffness will cause vibration, and too low stiffness will cause slow start and stop response. The stiffness of the robot is different in different positions and postures and under different tooling loads. It is difficult to meet the needs of all working conditions by setting the servo stiffness value in advance. On line adaptive chattering suppression technology, an intelligent control strategy without parameter debugging is proposed, taking into account the requirements of stiffness matching and chattering suppression, which can suppress the end jitter of the robot and improve the end positioning accuracy.

3. Control key technologies

(1) Motion solution and trajectory planning

Motion solution and optimal path planning can improve the motion accuracy and work efficiency of the robot.

(2) Dynamic compensation

General industrial robot is a series cantilever structure with weak rigidity, complex motion, easy to deform and shake. It is a subject that needs the combination of kinematics and dynamics. In order to improve the dynamic performance and motion accuracy of the robot, the robot control system must establish a dynamic model for dynamic compensation. The compensation mainly includes gravity compensation, inertia compensation, friction compensation, coupling compensation, etc.

(3) Calibration compensation

Due to machining error and assembly error, it is difficult to avoid deviation from the theoretical mathematical model, which will reduce the TCP accuracy and Trajectory Accuracy of the robot. For example, it will be seriously affected when it is used in welding and off-line programming. This problem can be solved by detecting and calibrating the model parameters of the compensation robot.

(4) Perfect process package

The control system should be combined with the actual engineering application. In addition to the continuous upgrading and greater function of the system, it should also continuously develop and improve the process package according to the needs of industrial application, which is conducive to accumulating industrial process experience, more convenient for customers, simpler operation and higher efficiency.

1. In terms of palletizing in various factories, highly automated robots are widely used. Manual palletizing is intensive and labor-intensive. Employees not only need to bear great pressure, but also have low work efficiency. According to the characteristics of the transported objects and the places where the transported objects are classified, the handling robot can carry out efficient classified handling on the basis of maintaining its shape and the properties of the objects, so that the packing equipment can complete the stacking task of hundreds of pieces per hour. It plays an important role in blanking on the production line and container handling.

2. Application in welding

Welding robots mainly undertake welding work. Different industrial types have different industrial needs, so common welding robots include spot welding robot, arc welding robot, laser robot and so on. Automobile manufacturing industry is the most widely used industry of welding robot. It has incomparable advantages in welding difficulty, welding quantity and welding quality.

3. Application in assembly

In industrial production, the assembly of parts is a huge work, which requires a lot of labor. The former human assembly has been gradually replaced by industrial robots because of its high error rate and low efficiency. The research and development of assembly robot combines a variety of technologies, including communication technology, automatic control, optical principle, microelectronic technology and so on. The R & D personnel shall prepare appropriate procedures according to the assembly process and apply them to the specific assembly work. The biggest feature of assembly robot is high installation accuracy, flexibility and high durability. Because the assembly work is complex and fine, we choose the assembly robot to install electronic parts and automobile fine parts.

4. Application in detection

The robot has multi-dimensional additional functions. It can replace the work of staff in special posts, such as detecting in high-risk areas such as nuclear contaminated areas, toxic areas, nuclear contaminated areas and high-risk unknown areas. There are also places that human beings cannot reach, such as the detection of sick parts of patients, the detection of industrial defects, and the detection of life at the earthquake relief site.