I have a little black hole

Lei Tiantang, in his private laboratory without equipment, started to separate the received robots by category, and then began his dismantling activities.In the past few days, all kinds of robots he bought online have been delivered one after another, so he also bought professional disassembly equipment and brought a computer to start busy in the laboratory.

During the dismantling process, Lei Tiantang also summarized the composition of these robots. These robots are currently typical mechatronic products, which are generally composed of five parts: mechanical bodies, control systems, sensors, drivers, and input and output system interfaces. .

In order to accurately control the body, its sensors provide information about the robot body or its environment. The control system generates command signals according to the control program, and controls the driver of each joint motion coordinate to make the end points of each boom follow the required trajectory and speed And acceleration to reach a specified position in space with a certain attitude.The driver transforms the signal output by the control system into a high-power signal to drive the actuator to work.

The general robots basically have this structure. Since the business was not very proficient at the beginning, Lei Tiantang started to dismantle it from a relatively low-cost robot.

The functions of these robots are relatively simple, they can only be used to complete some less complex tasks, and the control procedures are also very dull. Therefore, Lei Tiantang spent a day after dismantling each of them, regardless of them. Afterwards, he discovered that some robots with similar functions had almost the same control procedures. After changing the operation details, it was finished. It would be meaningless to continue to dismantle these low-end products.

Of course, these robots are not useless at all. Some robots are still a bit new in design. They provide some ideas for him to design his own robots in the future. Finally, they have not been completely in vain.

Throwing away those low-end products, Lei Tiantang began to study those industrial robots. The functions of these industrial robots are roughly the same. They are used to replace humans for boring and repetitive tasks, or to replace humans for some dangerous work. They The composition will be a little more complicated.

The industrial robot system is mainly composed of three parts and six subsystems.The three major parts are: mechanical part, sensor part, control part.The six subsystems are: drive system, mechanical structure system, perception system, robot-environment interaction system, human-machine interaction system, and control system.

1. Drive system: In order to make the robot run in the hands of industrial robots, it is necessary to install transmission devices for each joint, that is, each degree of freedom of movement. This is the drive system.The drive system can be a hydraulic drive, a pneumatic drive, an electric drive, or a comprehensive system that combines them for application; it can be driven directly or indirectly driven by mechanical transmission mechanisms such as timing belts, chains, gear trains, and harmonic gears.

Second, the mechanical structure system: industrial robots are mechanical parts that complete various movements.The system is composed of bones (bars) and joints (kinematic pairs) connecting them. It has multiple degrees of freedom and mainly includes parts such as hands, wrists, arms, and body.

3. Control system: It adopts modular hardware structure and computer-based open software architecture, which can be flexibly adapted according to your equipment and your special requirements.In addition, it also has various extension functions, which can make your control system easily adapt to various constantly changing new production tasks.Allows you to respond flexibly to changes and ensure the product's competitive advantage.

Fourth, feel the system: Configure sensors in industrial robots. Among the internal sensors of industrial robots, position sensors and speed sensors are indispensable elements in robot feedback control today.The role of external sensors of industrial robots is to detect the working objects and the environment or the relationship between the robot and them. Tactile sensors, visual sensors, force sensors, proximity sensors, ultrasonic sensors and auditory sensors are installed on the robot, which can greatly improve the robot Working conditions, so that they can complete complex tasks more fully.

5. Environmental interaction system: The human-machine contact interaction system is an important part of various intelligent machines such as intelligent robots.Humans perceive and operate the information of the machine system through contact interaction, and the intelligent machine perceives and operates the environment through the contact interaction system, realizing the harmonious and natural interaction between human and environment, and enabling human intelligence and skills to interact through the contact interaction system Integrate into smart machines.

6. Interactive system: The functions of general industrial robot manipulators are listed in essence by the mechanical part, the sensor part, and the control part of the integrated lock.However, the working ability of industrial robots also depends on the connection and cooperation with the external environment, that is, the interaction ability between industrial robots and the environment. The interaction between industrial robots and the external environment includes your hardware environment and software environment.

Of course, for a complete robot system, only one robot body is not enough. It requires many supporting measures, and the actual application can be completed after system integration.

When Lei Tiantang assembled several similar robots from different manufacturers for experimental operation, he discovered a detail that had to be said, that is the accuracy of these robots.

Accuracy refers to how accurately the robot reaches the specified point.It is related to the resolution of the drive and the feedback device.

Most industrial robots have an accuracy of 0.001 inches or higher, not to say that those products with high prices have high accuracy. It is estimated that the application environment is different. Anyway, the results detected by Lei Tiantang are like this, some prices For a very high robot, its accuracy is no higher than its slightly lower accuracy.

Then Lei Tiantang let them continue to run and checked their respective repeat accuracy, which is also an important technical parameter. After all, these robots are used to perform some repetitive work, can't the precision be high or low?

Repeat accuracy refers to how accurately the robot reaches the same position if the action is repeated multiple times.For example, suppose the driving robot reaches the same point 100 times. Because many factors affect the position accuracy of the robot, the robot cannot reach the same point accurately every time, but it should be within the range of a circle centered on this point. .The radius of the circle is formed by a series of repetitive actions. This radius is the repeat accuracy.

Repeat accuracy is more important than accuracy. If a robot is not sufficiently accurate, it will usually display a fixed error. This error can be predicted, so it can be corrected by programming.

Assuming that a robot always deviates to the right by 0.01 mm, then it can be specified that all position points are offset to the left by 0.01 mm inches, which eliminates the deviation.If the error is random, then it cannot be predicted and therefore cannot be eliminated.The accuracy of the load limits the range of such random errors, which is usually measured by repeatedly running the robot a certain number of times.