Executing agency:
A mechanical device that has similar movement functions to a human arm and can grasp and place objects or perform other operations in space, usually including: a base (1 in Figure 1), an arm (3 in Figure 1), a wrist, and an end effector.
1) End effector (also known as hand) - The hand is a device used by robots to directly perform work, which can be equipped with clamps, tools, sensors, etc. The robots selected by Dalian Huagong Innovation Technology Co., Ltd. have two usage modes: first, the robot hands grip the workpiece and cooperate with the adhesive head to complete local adhesive work on lightweight or small-sized components. 2、 The robot hands grip the adhesive head, used for local adhesive work on heavy or large-sized components. The use of industrial robots effectively captures complex trajectories and avoids local protrusions of workpieces.
2) Wrist - The wrist is a component that connects the arm and the end effector, used to adjust the orientation and posture of the end effector.
3) Arm - The arm is a component that supports the wrist and end effector. It consists of a power joint and a connecting rod, used to change the spatial position of the end effector.
4) Machine base - The machine base is the basic component of industrial robots, which bears corresponding loads. The machine base is divided into two types: fixed and mobile.Control system (2 in Figure 1)
The control system is the brain of a robot, which controls the robot to move according to a prescribed program and memorizes pre specified command information (such as action sequence, motion trajectory, motion speed, etc.), while controlling the execution mechanism to act according to the specified requirements based on the information of its control system.
Industrial robots controlled by computers have a control system divided into three levels: decision level, strategy level, and execution level.
1) The function of decision level is to identify the environment, establish models, and decompose task tasks into basic action sequences;
2) The strategy level function is to transform basic actions into coordinated changes in joint coordinates and assign them to the servo systems of each joint;
3) The function of the execution level is to provide specific instructions for each joint servo system.Detection system
Mainly detecting the motion position and status of the industrial robot execution system, and providing feedback on the actual position of the execution system to the control system at any time, comparing it with the set position, and then adjusting it through the control system to achieve the set positioning state with a certain precision. Commonly used sensors include force, position, tactile, visual, etc.Drive system (hydraulic cylinder, motor, etc.)
The drive system is a transmission device that amplifies signals according to the control instructions issued by the control system and drives the movement of the actuator. There are four commonly used driving methods: electrical, hydraulic, pneumatic, and mechanical.
Some robots use a combination of these driving methods, such as electro-hydraulic hybrid driving and gas-liquid hybrid driving.
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