Component of Parallel Robot
Core technology of parallel robot: controller, servo motor, reducer
Parallel robots have the advantages of high rigidity, fast speed, strong flexibility, and light weight. Together with SCARA robots, they constitute an important part of industrial robots. It is most widely used in light industries such as food, medicine, and electronics, and has unparalleled advantages in material handling, packaging, and sorting. In the past two years, with the increasing application of parallel robots in the market, it has become a new force in the demand for industrial robots.
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Robot drive
Concept: To make the robot run, it is necessary to install a transmission device for each joint that is each degree of freedom of movement. Function: Provide the motive force for the actions of each part of the robot and each joint.
Drive system: It can be hydraulic drive, pneumatic drive, electric drive, or a comprehensive system combining them; it can be direct drive or indirect drive through mechanical transmission mechanisms such as synchronous belts, chains, gear trains, and harmonic gears.
Image of Parallel Robot:
1. Electric drive device
The electric drive device has simple energy, large speed variation range, high efficiency, and high speed and position accuracy. However, they are mostly connected with deceleration devices, and it is difficult to drive directly.
Electric drive devices can be divided into direct current (DC), alternating current (AC) servo motor drives and stepper motor drives. The brushes of the DC servo motor are easy to wear and sparks. Brushless DC motors have also been used more and more widely. Stepper motor drives are mostly open-loop control, simple control but low power, and are mostly used in low-precision and low-power robot systems.
The following checks must be made before electric power-on operation:
1) Whether the power supply voltage is appropriate (overvoltage is likely to cause damage to the drive module); the +/- polarity of the DC input must not be connected incorrectly, and whether the motor model or current setting value on the drive controller is appropriate (not at the beginning too big);
2) The control signal wire is connected firmly, and it is better to consider the shielding problem in the industrial field (such as using twisted pair);
3) Do not connect all the wires that need to be connected at the beginning, only connect to the most basic system, and then gradually connect after it runs well.
4) Be sure to figure out the grounding method, or use floating without connecting.
5) Within half an hour of starting operation, closely observe the state of the motor, such as whether the movement is normal, the sound and the temperature rise, and immediately stop and adjust if there is a problem.
2. Hydraulic drive
It is completed by a high-precision cylinder and piston, and linear motion is achieved through the relative movement of the cylinder and the piston rod.
Advantages: high power, can save the reduction device directly connected with the driven rod, compact structure, good rigidity, fast response, servo drive has high precision.
Disadvantages: It is necessary to add a hydraulic source, which is prone to liquid leakage and is not suitable for high and low temperature occasions. Therefore, hydraulic drives are currently mostly used in super-powered robot systems.
Choose suitable hydraulic oil. To prevent solid impurities from mixing into the hydraulic system, and prevent air and water from intruding into the hydraulic system. The mechanical operation should be gentle and smooth. The mechanical operation should avoid roughness, otherwise the impact load will inevitably occur, which will cause frequent mechanical failures and greatly shorten the service life. Pay attention to cavitation and overflow noise. Always pay attention to the sound of the hydraulic pump and the overflow valve during operation. If the hydraulic pump has "cavitation" noise, which cannot be eliminated after exhausting, it should be used after finding out the cause and troubleshooting. Maintain proper oil temperature. The working temperature of the hydraulic system is generally controlled between 30 and 80°C.
3. Pneumatic drive
The air-driven structure is simple, clean, sensitive, and has a buffering effect. . But compared with the hydraulic drive device, the power is small, the rigidity is poor, the noise is large, and the speed is not easy to control, so it is mostly used for point control robots with low precision.
(1) It has the characteristics of fast speed, simple system structure, convenient maintenance and low price. Suitable for use in robots with medium and small loads. But because it is difficult to realize servo control, it is mostly used in program-controlled robots, such as loading and unloading and stamping robots.
(2) In most cases, it is used in medium and small robots that realize two-position or limited-point control.
(3) At present, most control devices use programmable controllers (PLC controllers). In flammable and explosive situations, pneumatic logic components can be used to form a control device.
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