Industrial robots consist of basic parts such as the mechanical body, control system, drive and transmission systems, and sensor components. It is a multi-joint manipulator or multi-degrees-of-freedom mechanical device applied in the industrial field. It can automatically perform work and realize the function of designing devices by its own power and control capability. The main body of the robot is a base and an actuator, mainly including an arm, a wrist and a hand, and some have a walking mechanism. It can accept human command as well as run according to pre-programmed instructions. Advanced industrial robots can act in accordance with the principles established by artificial intelligence. Since the United States developed the world’s first industrial robot in 1962, robotics and its products have developed rapidly and have become automated tools for flexible manufacturing systems (FMS), automated factories (FA), and computer integrated manufacturing systems (CIMS). The widespread use of industrial robots not only improves the quality and output of products, but also has great significance in protecting personal safety, improving the labor environment, reducing labor intensity, increasing labor productivity, saving raw material consumption and reducing production costs. Like computers and network technologies, the widespread use of industrial robots is increasingly changing human production and lifestyles. Since the advent of robots in the early 1960s, robotics technology has undergone continuous development and substantial progress and results have been achieved. Mainly reflected in the following aspects: (1) to improve the degree of automation of the production process application of robots, help to improve the material delivery, the loading and unloading of the workpiece, the replacement of the tool and the degree of automation of the machine assembly, which can increase labor productivity and reduce production Cost, accelerate the pace of industrial production mechanization and automation. (2) Improve working conditions and avoid personal accidents. Direct operation by a person is dangerous or not at all in high temperature, high pressure, low temperature, low pressure, dust, noise, odor, radioactive or other toxic pollution, and narrow working space. possible. The use of robots can be partially or completely replaced by people to complete the operation safely, greatly improving the working conditions of workers. At the same time, in some operations that are simple but repeat operations, using robots instead of humans can avoid personal accidents caused by fatigue or negligence. (3) Reducing manpower and facilitating rhythmic production Application of robots instead of people to work is one aspect of directly reducing manpower. At the same time, since application robots can work continuously, this is another aspect of reducing manpower. Therefore, almost all robots are currently equipped with robots in automated machine tools and integrated machining automated production lines to reduce manpower and more accurately control the beat of production, facilitating the production of rhythmically. At present, there are more than a million industrial robots in the world that are working on various production sites; in non-manufacturing fields, up to space capsules, spacecraft, down to extreme environmental operations, and daily life services, the application of robotics technology has expanded to the social economy. Many fields of development; in the traditional manufacturing field, industrial robots have become indispensable core automation equipment after their birth, growth, and maturity. (1) Industrial Robots in Hot Process Production Industrial robots are widely used in foundry production and involve almost all aspects of casting, blasting, blast cleaning, and casting transportation. The basic functions completed by the industrial robot in the foundry production include: taking out the casting from the working area of ​​the machine; sequentially transferring the casting to the inspection position, entering the cooling device; putting it into the die of the trimming machine; taking it away from the die, Divide in the box; place the core in the foundry sand mold and pour the metal. Industrial robots used in foundry production should have special structural forms to prevent the effects of surrounding media; for example, sealing of control cabinets, consoles, guide rails, and friction surfaces, placing the control system in a separate unit or the like. Industrial robots in casting production are moving in the direction of rapidity and reliability of operation. (2) Industrial robots in cold-processing equipment The application areas involved in the production of forging equipment in industrial robots include: crank presses, molded bell cranks, and screw presses. The basic functions of industrial robots applied in forging production include gripping blanks from a specified position, moving them to a working position, transferring from one position to another (including turning), removing the finished part and putting it In the packing box, pick and place the waste, and issue instructions for controlling the integrated robotic equipment. (3) Industrial robots for metal cutting machine tools In flexible production units and flexible manufacturing systems, the use of industrial robots to assist in production is the most effective method. At present, industrial robots for metal cutting machine tools with a basic modular structure have been widely used. The basic functions performed by industrial robots for metal-cutting machine tools include: installing previously oriented blanks in the working space of the machine tool; removing the parts from the machine tool and placing them into the packing box (storage); turning the parts when necessary, cleaning Reference surfaces for parts and fixtures; control devices send process instructions; test parts, etc. When using auxiliary devices and coordinate rotation tables, lifting platforms, etc., the function of industrial robots can be expanded. (4) Industrial Robots for Assembling Industrial robots in assembly manufacturing can be used for both automatic assembly machines and direct assembly of large-volume parts. Assembly operations include stacking, screwing, press fitting, riveting, bending, crimping, gluing, and the like. In order to realize the operation of industrial robots, it is necessary to ensure the realization of basic functions: for example, the arm should be capable of linear motion in the vertical direction; the robot structure must have sufficient rigidity along the vertical axis to be able to withstand considerable effects in the assembly direction. Forces; Robots have the possibility of compensating for positioning errors, ie the flexibility of the structure, such as the flexibility of the structure depending on the plane perpendicular to the basic direction of the assembly; the working mechanism can make high-speed movements. When considering the above basic functional requirements, a reasonable structure of the assembly industrial robot should be a working arm with a hinged surface on a horizontal plane and a vertical stroke working mechanism. The carrying capacity of industrial robots should not exceed the limit, and robots should have a very flexible, large working space and a compact structure. (5) Industrial robots for metal plating equipment Industrial robots for metal plating equipment are mainly used for the service and painting of plating tanks. The application areas involved include electroplating coating, chemical coating, and anode mechanical coating on parts. At present, the development direction of this kind of industrial robots is to increase the moving speed of the metal plating robot manipulator, increase the labor productivity of the electric drive, reduce the metal consumption, and reduce the work area occupied by the production process. Similarly, in the field of industrial robot research, scholars are developing in the direction of fuzzy control, intelligence, generalization, standardization, modularization, high-precision, networking and self-improvement and repair capabilities. (1) Fuzzy Control and Intelligent Fuzzy Control is the basic idea and control method of using fuzzy mathematics. For a complex system, because of too many variables, it is difficult to correctly describe the dynamics of the system with the traditional control model. At this point, fuzzy mathematics can be used to deal with these control problems. The future robot is characterized by its higher intelligence. With the continuous development of high technology such as computer technology, fuzzy control technology, expert system technology, artificial neural network technology and intelligent engineering technology, the working ability of industrial robots will be improved and developed in a breakthrough manner. (2) Generalization, standardization, and modularization The components and components of industrial robots are universalized, standardized, and modularized, which is one of the important ways to reduce costs. (3) High-precision As the demand for robots in manufacturing increases, the development of high-precision industrial robots is an inevitable result of development. (4) Networking Most robots currently used only implement simple network communication and control. How to make the robot develop from an independent system to a group system, making long-distance operation monitoring, maintenance, and remote control is currently one of the hot topics in robot research. . (5) Self-improvement and remediation capabilities Robots should have the ability to repair themselves to better avoid sudden production disruptions. When the wrong instruction occurs, it should be alarm or debugging by itself; when the components are damaged, they can repair themselves.
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