The development of industrial robots in our country started relatively late but has been quite rapid. Just like the Internet today, it started late but has developed very quickly. Below, the editor will provide a detailed introduction from three aspects: the classification characteristics and composition of industrial robots.

Classification of industrial robots

Industrial robots are classified into four types based on the movement form of their arms:

The arm of the Cartesian coordinate type can move along three Cartesian coordinates.

2. The arm of the cylindrical coordinate type can perform lifting, rotating and stretching actions.

3. The arm of the spherical coordinate type can rotate, pitch and extend.

4. The arm of the articular type has multiple rotating joints.

Second, industrial robots can be further classified into point type and continuous trajectory type based on the control functions of their actuator movements

1. The point-to-point type only controls the precise positioning of the actuator from one point to another, and is suitable for operations such as loading and unloading on machine tools, spot welding, and general handling and loading/unloading.

2. The continuous trajectory type can control the actuator to move along the given trajectory, which is suitable for continuous welding, painting and other operations.

Iii. Industrial robots can be classified into two types based on the program input method: programming input type and teaching input type.

The programming input type transmits the pre-written operation program files on the computer to the robot control cabinet through communication methods such as RS232 serial port or Ethernet.

There are two teaching methods of the teaching input type:

One type is that the operator uses a manual controller (teaching control box) to send instruction signals to the drive system, allowing the actuator to perform once according to the required action sequence and movement trajectory.

Another type is that the operator directly leads the actuator to perform it once according to the required sequence of actions and movement trajectory. During the teaching process, the information of the working program is automatically stored in the program memory. When the robot works automatically, the control system retrieves the corresponding information from the program memory and transmits the instruction signal to the drive mechanism, enabling the actuator to reproduce various actions of the teaching. Industrial robots that teach input programs are called teaching reproduction industrial robots.

Iv. Intelligent Industrial Robots

Industrial robots with touch, force or simple vision can work in relatively complex environments. If it has recognition functions or further adds adaptive and self-learning functions, it becomes an intelligent industrial robot. It can adapt to the environment by selecting or programming itself according to the "macro instructions" given by people, and automatically complete more complex tasks.

An industrial robot is a multi-functional and multi-degree-of-freedom mechatronic automatic mechanical equipment and system that can complete certain operation tasks in the manufacturing process through repeated programming and automatic control. When combined with a manufacturing host or production line, it can form a single machine or multiple machine automation system, and perform various production operations such as material handling, welding, assembly and spraying without human intervention. As shown in the following figure is an industrial robot operating on the production line. At present, industrial robot technology and industry are developing rapidly and are increasingly widely used in production. They have become important highly automated equipment in modern manufacturing and production.

The characteristics of industrial robots

Since the first generation of robots was introduced in the United States in the early 1960s, the research and application of industrial robots have developed rapidly. However, the most prominent features of industrial robots can be summarized as follows.

Programmable. The further development of production automation is flexible automation. Industrial robots can be reprogrammed according to the changing needs of their working environment. Therefore, they can play a very good role in the flexible manufacturing process with small-batch, multi-variety and balanced high efficiency, and are an important component of the flexible manufacturing system (FMS).

2. Personification. Industrial robots have mechanical structures similar to those of humans, such as walking, waist rotation, upper arm, lower arm, wrist, and hand claws. They are also controlled by computers. In addition, intelligent industrial robots also have many "biosensors" similar to those of humans, such as skin-type contact sensors, force sensors, load sensors, visual sensors, acoustic sensors, and language functions, etc. Sensors enhance the self-adaptability of industrial robots to their surrounding environment.

3. Versatility. In addition to specially designed dedicated industrial robots, general industrial robots have good versatility when performing different job tasks. For instance, by replacing the end effector (gripper, tool, etc.) of an industrial robot's hand, it can perform various tasks.

4. Mechatronics. Industrial robot technology involves a wide range of disciplines, but in summary, it is a combination of mechanics and microelectronics - mechatronics technology. The third-generation intelligent robots not only possess various sensors for obtaining information about the external environment, but also have artificial intelligence capabilities such as memory, language understanding, image recognition, and reasoning and judgment. All of these are closely related to the application of microelectronics technology, especially computer technology. Therefore, the development of robot technology will inevitably drive the development of other technologies, and the development and application level of robot technology can also verify the development and level of a country's science and technology and industrial technology.

The composition of industrial robots

The industrial robot system consists of three major parts and six subsystems. The three major parts are: the mechanical part, the sensing part and the control part. The six subsystems are: drive system, mechanical structure system, sensing system, robot-environment interaction system, human-machine interaction system, and control system.

1. Drive system

To make the robot run, transmission devices need to be installed for each joint, that is, each degree of freedom of motion. This is the drive system. The drive system can be hydraulic transmission, pneumatic transmission, electric transmission, or a comprehensive system that combines them for application. It can be directly driven or indirectly driven through mechanical transmission mechanisms such as synchronous belts, chains, gear trains, and harmonic gears.

2. Mechanical structural system

The mechanical structure system of an industrial robot is the mechanical component that the industrial robot uses to perform various movements. The system is composed of bones (rods) and the joints (moving pairs) that connect them, featuring multiple degrees of freedom. It mainly includes components such as the hand, wrist, arm, and fuselage.

(1) Hand: Also known as the end effector or gripper, it is the part of an industrial robot that directly operates on the target. Special tools such as welding torches, spray guns, electric drills, and electric screw (female) screwdrivers can be installed on the hand.

(2) Wrist: The wrist is the part that connects the hand and the arm, and its main function is to adjust the posture and position of the hand.

(3) Arm: It is used to connect the fuselage and the wrist, and is