The key basic parts of an industrial manipulator are the versatile and modular components that constitute the drive system, control system and human-machine interaction system and play a key role in influencing the manipulator performance. An industrial manipulator is mainly composed of three components: reducer, high-performance AC/DC servo motor and driver, and high-performance robot controller.
1. Reducer
Reducers are an indispensable component of reliable and accurate operation of industrial robots. There are two main types of reducers widely used in the base, boom, shoulder or joint of robots: harmonic reducers and RV reducers.
The harmonic drive method was invented by American inventor C. WaltMusser in the mid 1950s. The harmonic reducer is mainly composed of three basic components: wave generator, flexible gear and rigid gear. Wave generator enables the flexible gear to produce controlled elastic deformation, and the flexible gear meshes with the rigid gear to transmit motion and power. The single-stage transmission speed ratio can range from 70 to 1000, and the reducer can be reversed without side gap meshing by making use of flexible gear deformation. Compared to the ordinary reducer with a same output torque, the harmonic reducer induces its volume by 2/3 and weight by 1/2. Subjected to large alternating load, the flexible gear has high requirements for material fatigue strength, processing and heat treatment, and has complicated manufacturing process, so the performance of the flexible gear is the key to high-quality harmonic reducer.
2. Controller
The multi-axis controller platform is mainly divided into motion control card with embedded processor (DSP, POWERPC) as the core and PLC system with industrial control machine plus real-time system as the core. Though motion control cards have been developed by China manufacturers, they are seldom applied to custom industrial manipulators manufactured by Jiangyin Tongli Industrial Co., Ltd., a modern manufacturing enterprise specializing in the research and development, design, production, sales and service of storage and handling equipment automation.
3. Servo motor and driver
European brands of servo motor and driver mainly include Lenz, Lust, and Bosch Rexroth, etc. These kinds of servo motors and drivers have excellent overload capacity and dynamic response, strong openness, and bus interfaces, but are very expensive. Japanese brands are mainly Yaskawa, Panasonic, and Mitsubishi, etc., which are relatively cheap, but have poor dynamic response capability and openness is poor, and most of which only have analog and pulse control mode. In recent years, basic research and industrialization of high-power AC permanent magnet synchronous motor and driver have been conducted in China, and several institutes are able to produce AC permanent magnet synchronous motors and drivers, whose dynamic performance, openness and reliability need to be verified by project applications.
Post time: May-19-2022