Introduction:Industrial robots are usually mechanical devices used for manufacturing applications in a factory environment, and its emergence has reduced the labor intensity of workers and improved the productivity of various enterprises. In order to give you a better understanding of industrial robots, this paper will take the mechanical structure of industrial robots to carry out the introduction of the relevant content.
Industrial robots and human arms share a common characteristic; although they look different, they actually share the same underlying structure of bones and joints. The basic skeleton of an industrial robot consists mainly of connecting rods and joints or other forms of motion subs. In contrast to the human arm, parts that can bend and move freely, such as the elbow and shoulder, are joints, and the bones connecting these joints are equivalent to the robot's connecting rods.
Industrial robots are composed of mechanical structure, control system and drive system, etc. Generally, the mechanical structure of industrial robots consists of seat, waist, arm, wrist and hand, etc. Some industrial robots also have walking mechanism. The following will introduce the mechanical structure of industrial robots.
Components of industrial robot mechanics
1.Machine base
The machine base of the industrial robot is the basic part of the robot, which plays the role of connection and support, and has a certain degree of rigidity and stability. Chassis that can be fixed, can also be walking, fixed chassis is generally fixed with rivets on the ground or on the workbench, as well as fixed in the beam and on the platform. Walking type machine base is in order to allow industrial robots to complete the operation of a longer distance, generally have roller type or overlay belt type, and industrial robots are usually fixed machine base.
2.Waist
The waist is the part that connects the chassis and the arm, and is the supporting part of the arm. According to the different coordinate systems of the actuator, the waist can either rotate on the chassis or be made into a single piece with the chassis, and sometimes the waist can be moved on the chassis through the guide bar, so as to increase the working space. The production error, movement accuracy and smoothness of the waist have a decisive influence on the positioning accuracy of industrial robots.
3.Arms
The arm is the main moving part in the mechanical structure of the industrial robot, which is used to connect the base, waist, wrist and hand, as well as to support the wrist and hand, and can adjust the specific position of the hand in space. When the arm is working, it not only has to bear the white body weight of the wrist and hand, but also has to bear the weight of the workpiece, and its own movement is more famous, thus the force is complicated.
The arm mainly includes the big arm and small arm. The big arm connects the waist and the small arm, located between them, the big arm and the small arm and the back end of the parts on the waist for movement, in order to change the front and back and up and down position of the hand. The small arm connects the large arm to the wrist and is located between them, and the small arm can be moved with the wrist and the rear end member on the large arm to change the forward and backward and up and down positions of the hand. The arm usually has three degrees of freedom, that is, the arm's extension and retraction, slewing, and pitching or elevation movements.
4.Wrist
Wrist is used to connect the arm and hand parts, played the role of Wen support hand, can change the posture of the hand. Industrial robots usually have to have six degrees of freedom in order for the hand to reach the target position and in the expected posture, and the degrees of freedom on the wrist is mainly to realize the expected posture.
The wrist typically requires three degrees of freedom and consists of three rotary joints, such as arm rotation, wrist swing and hand rotation, in various combinations. Depending on the requirements of the use, the degrees of freedom of the wrist may not necessarily be three, but may be one, two, or more than three. The choice of wrist degrees of freedom is related to factors such as the positioning accuracy of the robot, the requirements of the machining process, and the position of the workpiece.
5.Hand part
The hand of an industrial robot can also be called an end-effector, which is mounted on the wrist of an industrial robot and is used as a component to perform tasks. For industrial robots, the hand is one of the key components to accomplish the task, and its hand can be like a human hand with fingers, or like an animal's paw or specialized tools, such as paint spray guns and welding guns. The hand of industrial robots can be broadly categorized into clamp hand, adsorption hand, special hand and general hand. There is a mechanical interface between the hand and the wrist, which allows the hand to be removed and replaced when the industrial robot has different task objectives.
Browsing through the above article we can understand that the mechanical structure of an industrial robot consists of a base, waist, arm, wrist and hand, each of which has several degrees of freedom, thus constituting a multi-degree-of-freedom mechanical system. In addition, if the industrial robot has a walking mechanism, it constitutes a walking robot: if the industrial robot does not have a walking function, it constitutes a single arm robot. To learn more about the knowledge and application of industrial robots, please pay attention to Jiezhong Robotics.