I Have a Little Black Hole

Lei Tiantang started sorting the received robots on the first floor without equipment in his private laboratory, and then began his dismantling activities. In the past few days, all kinds of robots he bought online have been delivered one after another, so he also bought professional dismantling equipment, brought a computer and started busy in the laboratory.

In the process of dismantling, Lei Tiantang also summarized the composition of these robots. These robots are currently typical mechatronic products, generally consisting of five parts: mechanical body, control system, sensor, driver and input/output system interface. composition.

In order to precisely 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, and controls the actuators of the motion coordinates of each joint to make the end points of each arm follow the required trajectory and speed. and acceleration to reach the specified 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.

The general robot basically has this structure. Since he was not very skilled at the beginning of the business, Lei Tiantang started to disassemble it from a relatively low-priced robot.

The functions of these robots are relatively simple, they can only be used to complete some uncomplicated tasks, and the control procedures are also very rigid, so Lei Tiantang spent a day dismantling one of each type and left them alone. Because later he discovered that some robots with similar functions even had similar control programs, so he just changed the operation details and it was over. 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 innovative in design, which provides some ideas for him to design his own robots in the future, and it is not completely in vain.

Abandoning those low-end products, Lei Tiantang began to study those industrial robots. The functions of these industrial robots are roughly the same, that is, they are used to replace human beings to handle those boring and repetitive tasks, or to replace human beings to perform some dangerous work. The composition is a little more complicated.

The industrial robot system is mainly composed of three major 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-computer interaction system, and control system.

1. Drive system: In an industrial robot manipulator, to make the robot run, it is necessary to install a transmission device for each joint, that is, each degree of freedom of movement, which is the drive system. The drive system can be hydraulic transmission, pneumatic transmission, electric transmission, or a comprehensive system combining them; it can be directly driven or indirectly driven through 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 consists of bones (rods) and joints (kinematic pairs) connecting them, with multiple degrees of freedom, mainly including parts such as hands, wrists, arms, and fuselage.

3. Control system: It 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 has various expansion functions, which can easily adapt your control system to a variety of new and changing production tasks. Gives you the flexibility to respond to changes and secure your product's competitive advantage.

4. Feeling system: Sensors are configured in industrial robots. Among the internal sensors of industrial robots, position sensors and speed sensors are indispensable components in today's robot feedback control. The role of the external sensors of industrial robots is to detect the working object and the environment or the relationship between the robot and them. The tactile sensor, visual sensor, force sensor, proximity sensor, ultrasonic sensor and auditory sensor are installed on the robot, which can greatly improve the robot. Working conditions,

enable it to more fully complete complex work.

5. Environmental interaction system: The 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 operate through contact interaction, and intelligent machines perceive and operate the environment through the contact interaction system, so as to realize the harmonious and natural interaction between humans and the environment, so that human intelligence and skills can be realized through the contact interaction system. into intelligent machines.

6. Interactive system: All the functions of the general industrial robot manipulator are essentially determined by the internal integrated lock of its mechanical part, sensing part and control part. However, the working ability of industrial robots also depends on the connection and cooperation with the external environment, that is, the ability of industrial robots to interact with the environment. The interaction between industrial robots 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, and many supporting measures are needed, and the practical application can be completed after system integration.

When Lei Tiantang assembled several similar robots from different manufacturers for experimental operation, he found a detail that had to be said, and that was the accuracy of these robots.

Accuracy refers to how precisely the robot reaches the specified point. It is related to the resolution of the driver and the feedback device.

Most industrial robots have an accuracy of 0.001 inches or higher. It does not mean that those products with high prices have high accuracy. It is estimated that the application environment is different. Anyway, the results detected by Lei Tiantang are like this. A very high robot, its accuracy is not as high as its slightly less expensive.

Then Lei Tiantang let them run continuously and tested their respective repeatability. This is also an important technical parameter. After all, these robots are used to perform some repetitive work, so the accuracy can't be high or low, right?

Repetition accuracy refers to how precisely 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. Due to many factors that will affect the positional 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.

Repeatability is more important than accuracy, and if a robot is not positioned accurately, it will usually show a fixed error that is predictable and can therefore be programmed to correct.

Assuming a robot always deviates 0.01mm to the right, it can be specified that all position points are offset 0.01mm inch to the left, thus eliminating the deviation. If the error is random, it cannot be predicted and therefore cannot be eliminated. Heavy duty accuracy defines the bounds of this random error and is usually determined by repeatedly running the robot a certain number of times.