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Talking about the application of industrial robot in the field of automation control

Talking about the application of industrial robot in the field of automation control

  • Categories:Industry news
  • Author:
  • Origin:
  • Time of issue:2019-11-19
  • Views:22

(Summary description)Robot technology integrates a variety of disciplines such as computer, cybernetics, mechanism science

Talking about the application of industrial robot in the field of automation control

(Summary description)Robot technology integrates a variety of disciplines such as computer, cybernetics, mechanism science

  • Categories:Industry news
  • Author:
  • Origin:
  • Time of issue:2019-11-19
  • Views:22
Information

Robot technology integrates a variety of disciplines such as computer, cybernetics, mechanism science, information and sensing technology, artificial intelligence, bionics, etc., is a high-tech, is a field of contemporary research is very active, and increasingly widely used. The application of robots is an important indicator of the level of industrial automation in a country.

Industrial robots include three major parts and six subsystems, three of which refer to the mechanical part, the sensing part, and the control part.The six subsystems refer to the drive system, mechanical structure system, sensory system, robot-environment interaction system, and human-computer interaction. Systems and control systems.

I. Features and functions of the industrial robot control system 1. Features of the industrial robot control system (1) The control of the robot is closely related to the kinematics and dynamics of the mechanism, and the states of the hands and feet of the robot can be described under various coordinates, which should be based on Need to choose the reference coordinate system and do the appropriate coordinate transformation. (2) Even a simpler robot requires 3 to 5 degrees of freedom, and a more complex robot requires more than a dozen or even tens of degrees of freedom.Each degree of freedom generally includes a coordinated servo mechanism, which forms a multi Variable control system. (3) The computer can realize the coordinated control of multiple independent servo systems, which act according to human will, and even give robots certain intelligent tasks. (4) A non-linear mathematical model is used to describe the state and movement of the robot. As the state changes and the external force changes, its parameters also change, and there are still couplings between the variables. You must also use velocity or even acceleration closed loop. (5) Robot movements can often be accomplished in different ways and paths, so there is an "optimal" problem. For higher-level robots, artificial intelligence methods can be used. Computers can be used to build an enlarged information base, and information bases can be used for control decisions, management, and operations. 2. The main functions of the industrial robot control system (1) Teaching playback function. The control system can be taught through the teaching box or the handle, and teach the robot in advance certain information such as motion sequence, movement speed, and position. The robot's memory device automatically records the taught operation process in the memory When the reproduction operation is needed, the content in the memory can be replayed. (2) Motion control function. It can control the posture, speed, acceleration and other items of the robot end-effector.

II. Composition and control method of control system 1. Composition and function of industrial robot control system (1) Control computer. It is the dispatching command mechanism of the control system, and generally uses a microcomputer or a microprocessor. (2) Teaching box. Its role is to complete the teaching robot's work trajectory, parameter settings and all human-computer interaction operations. It has an independent CPU and storage unit, and realizes information interaction with the host computer by serial communication. (3) Sensor interface. It is used for the automatic detection of information and realizes the compliance control of the robot. Generally it is a force sensor, a tactile sensor and a vision sensor. (4) Axis controller. Its role is to complete the position, speed and acceleration control of each joint of the robot. (5) Control of auxiliary equipment. It is used to control auxiliary equipment that cooperates with the robot. 2. Control methods of industrial robots There are various control methods of industrial robots, which can be divided into four types according to different tasks. (1) Point control method. This method only controls the posture of the end effector of the industrial robot at some specified discrete points in the work space. In the control, only the industrial robot is required to be able to move quickly and accurately between adjacent points, and there is no stipulation on the trajectory of reaching the target point. (2) Continuous trajectory control mode. This method is to continuously control the posture of the end effector of the industrial robot in the working space.It is required to strictly follow the predetermined trajectory and speed to move within a certain accuracy range, and the speed is controllable, the trajectory is smooth, and the movement is stable to complete Homework tasks. (3) Force (torque) control mode. When assembling, grasping and placing objects, in addition to requiring accurate positioning, it is also required that the force or torque used be appropriate. At this time, a force (torque) servo method is required. (4) Intelligent control method. Its intelligent control is to obtain knowledge of the surrounding environment through sensors and make corresponding decisions based on its own internal knowledge base. The intelligent control technology is adopted to make the robot have strong environmental adaptability and self-learning ability.

III. Application fields of robots Industrial robots were first used in the automobile manufacturing industry. With the extension and expansion of the scope of industrial robots, they can now replace people in dangerous, harmful, toxic, low-temperature and high-temperature environments. People do heavy, tedious repetitive work. In other words, it is mainly used in three areas: harsh working environment and dangerous work; special operating occasions and extreme jobs; and automated production.

Specifically:

(1) Welding robot. This robot is widely used in automobile manufacturers to weld large beams and body structures.

(2) Material handling robot. It is used for loading and unloading, palletizing, unloading, and grasping parts orientation.

(3) Detection. Including: confirm whether the size of the part is within the allowable tolerance; control the parts by quality.

(4) Assembly robot. Assembly is a relatively complicated operation process. There are many sensors on the assembly robot, such as contact sensors, vision sensors, proximity sensors, and hearing sensors.

(5) Painting and spraying. When performing three-dimensional surface painting and spraying operations, there must be at least five degrees of freedom. When working on large pieces, the robot is often mounted on a guide rail to facilitate walking.

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