Chapter 130: Dismantling the robot

　　 Lei Tiantang began to separate the received robots into categories on the unequipped first floor of his private laboratory, and then began his dismantling activities. The various robots he bought online in the past few days have been delivered one after another, so he also bought professional dismantling equipment, brought a computer and started busy in the laboratory.
During the disassembly process, Lei Tiantang also summarized the composition of these robots. These robots are currently typical mechatronics products, generally composed of five parts: mechanical body, control system, sensor, driver and input/output system interface. composition.
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. By controlling the actuators of each joint movement coordinate, the end points of each arm can follow the required trajectory and speed. And acceleration to reach the designated position in space with a certain attitude. The driver converts the signal output by the control system into a high-power signal to drive the actuator to work.
　　General robots basically have this structure. Since they were not very skilled at the beginning of the business, Lei Tiantang started dismantling from the lower-priced robots.
The functions of these robots are relatively single, which can only be used to complete some less complicated tasks, and the control procedures are also very rigid, so Lei Tiantang took a day to dismantle each of them and ignored them. Because later he discovered that some robots with similar functions even had similar control programs, so he changed the operation details and it was done. 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, which provided him with some ideas for designing his own robots in the future, but it was not completely wasted.
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 to deal with those boring and repetitive tasks, or to replace humans in some dangerous tasks. The composition is a little more complicated.
　　The industrial robot system is mainly composed of three parts and six subsystems. The three major parts are: the mechanical part, the sensing part, and the control part. The six subsystems are: drive system, mechanical structure system, sensory system, robot-environment interaction system, human-machine interaction system, and control system.
　　1. Drive system: In the industrial robot manipulator, to make the robot run, it is necessary to install transmission devices for each joint, that is, each degree of freedom of movement. This is the drive system. The driving system can be hydraulic transmission, pneumatic transmission, electric transmission, or a comprehensive system combining them; it can be directly driven or indirectly driven by mechanical transmission mechanisms such as synchronous belts, chains, gear trains, and harmonic gears.
　　 2. Mechanical structure system: Industrial robots are mechanical parts that complete various movements. The system is composed of bones (rods) and joints (motion pairs) connecting them, with multiple degrees of freedom, mainly including parts such as hands, wrists, arms, and body.
　　 3. Control system: 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 extended functions, which can make your control system easily adapt to various new and constantly changing production tasks. Allows you to flexibly respond to changes and ensure the competitive advantage of your products.
　　Four. Sensing system: Configure sensors in industrial robots. Among the internal sensors of industrial robots, position sensors and speed sensors are indispensable components in feedback control of today's robots. The role of external sensors of industrial robots is to detect the working object and the environment or the relationship between the robot and them. Tactile sensors, vision sensors, force sensors, proximity sensors, ultrasonic sensors and auditory sensors are installed on the robot, which can greatly improve the robot. Working conditions enable it to complete complex tasks more fully.
　　 5. Environmental interaction system: Human-machine contact interaction system is an important part of various intelligent machines such as intelligent robots. Humans perceive the information of the machine system and perform operations through contact interaction, and intelligent machines perceive and operate the environment through the contact interaction system, realizing the harmonious and natural interaction between humans and the environment, and enabling human intelligence and skills through the contact interaction system Incorporate into smart machines.
　　 VI. Interactive system: The essential functions of a general industrial robot manipulator are determined by the internal integrated lock of its mechanical part, sensor part, and control part. However, the operational capability of an industrial robot is also determined by the connection and cooperation with the external environment, that is, the interaction capability between the industrial robot and the environment. The interaction between the industrial robot and the external environment includes your hardware environment and software environment.
　　 Of course, for a complete robot system, only one robot body is far from enough. Many supporting measures are needed to complete the actual application after system integration.
　　 When Lei Tiantang assembled several similar robots from different manufacturers for experimental operation, he found a detail that I have to say ~ EbookFREE.me~ that is the accuracy of these robots.
　　Accuracy refers to the accuracy with which 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. It does not mean that the accuracy of those high-priced products is high. It is estimated that the application environment is different. Anyway, the results detected by Lei Tiantang are like this, some prices The accuracy of a very high robot is not higher than that of a lower price.
　　 Then Lei Tian Tang let them run continuously, and checked their respective repeatability accuracy. This is also an important technical parameter. After all, these robots are used to perform some repetitive tasks. Can't the accuracy fluctuate?
　　 Repeatability refers to the accuracy with which the robot reaches the same position if the action is repeated multiple times. For example, suppose the robot is driven to reach the same point 100 times. Because many factors will affect the position accuracy of the robot, it is impossible for the robot to reach the same point accurately every time, but it should be within a circle with the point as the center. . The radius of the circle is formed by a series of repeated actions, and this radius is the repeatability.
　　 Repeat accuracy is more important than accuracy. If a robot is not accurately positioned, it will usually show a fixed error. This error is predictable and can be corrected by programming.
　　 Assuming that a robot always deviates 0.01mm to the right, it can be specified that all position points are offset 0.01mm to the left, thus eliminating the deviation. If the error is random, it cannot be predicted and therefore cannot be eliminated. The heavy-duty accuracy limits the range of this random error, and is usually measured by repeatedly running the robot a certain number of times.