The robot control system is the brain of the robot and is the main factor determining the function and performance of the robot. The main task of industrial robot control technology is to control the position, attitude and trajectory of industrial robots in the workspace, the sequence of operations and the time of action. It has the characteristics of simple programming, software menu operation, friendly human-computer interaction interface, online operation prompts and easy to use.
Key technologies include:
(1) Open modular control system architecture: adopts distributed CPU computer structure, which is divided into robot controller (RC), motion controller (MC), photoelectric isolation I/O control board, sensor processing board and programming Teaching box and so on. The robot controller (RC) and the programming teach pendant communicate via the serial/CAN bus. The main computer of the robot controller (RC) completes the motion planning, interpolation and position servo of the robot, as well as the functions of the main control logic, digital I/O, sensor processing, etc., and the programming teaching box completes the display of information and the input of the keys.
(2) Modular and hierarchical controller software system: The software system is built on the open source-based real-time multitasking operating system Linux, which adopts layered and modular structure design to realize the openness of the software system. The entire controller software system is divided into three levels: hardware driver layer, core layer and application layer. The three levels face different functional requirements, corresponding to different levels of development. Each level in the system consists of several modules with opposite functions. These functional modules cooperate with each other to realize the functions provided by the level.
(3) Fault diagnosis and safety maintenance technology of the robot: Diagnosing the robot fault through various information and performing corresponding maintenance is the key technology to ensure the safety of the robot.
(4) Networked robot controller technology: At present, the application engineering of robots has evolved from a single robot workstation to a robot production line, and the networking technology of robot controllers has become more and more important. The controller has networking functions of serial port, field bus and Ethernet. It can be used for communication between robot controllers and robot controllers with the host computer, which is convenient for monitoring, diagnosis and management of the robot production line.
Mobile robot (AGV)
Mobile robot (AGV) is a type of industrial robot. It is controlled by computer and has functions such as mobile, automatic navigation, multi-sensor control, network interaction, etc. It can be widely used in machinery, electronics, textile, cigarette, medical, food, Flexible handling, transmission and other functions in the papermaking industry, etc., also used in automated warehouses, flexible processing systems, flexible assembly systems (with AGV as an active assembly platform); and as a means of transport at the station, airport, post office .
One of the new trends in the development of international logistics technology, and mobile robots are the core technology and equipment. It is a high-bay storage, operation and handling phase that uses modern logistics technology to coordinate, support, transform and upgrade traditional production lines to achieve point-to-point automatic access. Combine and realize high-tech and equipment such as refinement, flexibility, and informationization, shortening logistics processes, reducing material loss, reducing floor space, and reducing construction investment.
The spot welding robot welding robot has the characteristics of stable performance, large working space, fast moving speed and strong load capacity. The welding quality is obviously better than manual welding, which greatly improves the productivity of spot welding operations.
The spot welding robot is mainly used for the welding work of the whole vehicle. The production process is completed by the major automobile OEMs. With the long-term cooperation relationship with major automobile companies, international industrial robot companies provide various spot welding robot unit products to major automobile manufacturers and enter China in the form of welding robots and complete vehicle production lines, occupying a dominant position in this field.
With the development of the automotive industry, the welding production line requires the integration of welding tongs and the weight is getting larger. The 165 kg spot welding robot is the most commonly used robot in automotive welding. In September 2008, the Robotics Institute developed the first 165 kg spot welding robot in China and successfully applied it to the Chery Automobile Welding Workshop. In September 2009, the second robot with optimization and performance improvement was completed and passed the acceptance test. The overall technical index of the robot has reached the level of similar robots abroad.
Arc welding robot arc welding robot is mainly used in the welding production of various types of automotive parts. In this field, international large-scale industrial robot manufacturers mainly provide unit products to complete equipment suppliers. The company is mainly engaged in the production of complete sets of arc welding robots. According to the different needs of various projects, it can produce robot unit products in complete sets of equipment, and can also purchase and form various sets of arc welding robots for large industrial robot enterprises. In this field, the company and the large international industrial robot manufacturers are both competitive and cooperative.
Key technologies include:
(1) Arc welding robot system optimization integration technology: Arc welding robot adopts AC servo drive technology and high precision, high rigidity RV reducer and harmonic reducer, with good low speed stability and high speed dynamic response, and can be realized Maintenance function.
(2) Coordinated control technology: control the coordinated movement of multiple robots and positioners, which can maintain the relative posture of the welding torch and the workpiece to meet the requirements of the welding process, and avoid collision between the welding torch and the workpiece.
(3) Precision weld trajectory tracking technology: Combining the advantages of laser sensor and visual sensor offline working mode, laser sensor is used to realize weld seam tracking during welding, and the flexibility and adaptability of welding robot for welding complex workpieces is improved. The sensor observes the residual deviation of the weld seam offline, obtains the compensation data based on the deviation statistics and corrects the movement track of the robot, and obtains the best welding quality under various working conditions.
Laser processing robot The laser processing robot applies robot technology to laser processing and realizes more flexible laser processing operations through high-precision industrial robots. The system is operated online via the teach pendant and can also be programmed offline. The system generates a model of the workpiece by automatically detecting the workpiece, and then generates a machining curve, which can also be directly processed by using CAD data. It can be used for laser surface treatment, punching, welding and mold repair of workpieces.
Key technologies include:
(1) Laser processing robot structure optimization design technology: adopting a large-scale frame-type body structure to ensure the accuracy of the robot while increasing the working range;
(2) Error compensation technology of robot system: For the integrated processing robot with large working space and high precision, combined with its structural characteristics, the hybrid robot compensation method based on non-model method and model-based method is used to complete the geometric parameter error. Compensation for errors with non-geometric parameters.
(3) High-precision robot detection technology: Combining the three-coordinate measurement technology with the robot technology, the robot achieves high-precision online measurement.
(4) Language processing technology for laser processing robot: According to the characteristics of laser processing and robot operation, the language of laser processing robot is completed.
(5) Network communication and offline programming technology: It has serial communication, CAN and other network communication functions to realize the monitoring and management of the robot production line; and realize the offline programming control of the upper computer to the robot.
The vacuum robot vacuum robot is a robot that works in a vacuum environment and is mainly used in the semiconductor industry to realize the transmission of wafers in a vacuum chamber. Vacuum manipulators are difficult to import, restricted, large in quantity, and versatile, which has become a key component that restricts the R&D progress of semiconductor equipment and the competitiveness of the whole machine. Moreover, foreign countries have severely reviewed Chinese buyers and attributed them to the embargoed product catalogue. Vacuum manipulators have become a "card neck" problem that seriously restricts the manufacture of semiconductor equipment in China. The direct drive vacuum robot technology belongs to the original innovative technology.
Key technologies include:
(1) New configuration design technology of vacuum robot: Through structural analysis and optimization design, avoiding international patents, designing new configuration to meet the requirements of vacuum robot for stiffness and expansion ratio;
(2) Large gap vacuum direct drive motor technology: involving large gap vacuum direct drive motor and high clean direct drive motor to carry out motor theoretical analysis, structural design, manufacturing process, motor material surface treatment, low speed and large torque control, small multi-axis drive etc.
(3) Design of multi-axis precision shafting system in vacuum environment. The design of the shaft in the shaft is used to reduce the problem of misalignment between the axes and the inertia of the inertia.
(4) Dynamic trajectory correction technology: Through the fusion of sensor information and robot motion information, the offset between the reference position between the wafer and the finger is detected, and the motion trajectory is dynamically corrected to ensure that the robot accurately takes the wafer from the vacuum chamber. One station in the room is transferred to another station.
(5) Vacuum robot language conforming to SEMI standard: The vacuum robot special language is completed according to vacuum robot handling requirements, robot operation characteristics and SEMI standards.
(6) Reliability system engineering technology: In IC manufacturing, equipment failure will bring huge losses. According to the high requirements of MCBF for semiconductor equipment, the reliability of each component is tested, evaluated and controlled to improve the reliability of each component of the robot, thus ensuring that the robot meets the high requirements of IC manufacturing.
Clean Robot Clean Robot is an industrial robot used in a clean environment. As the level of production technology continues to increase, its requirements for the production environment are increasingly demanding. Many modern industrial products are required to be produced in a clean environment. Clean robots are the key equipment for production in a clean environment.
Key technologies include:
(1) Clean lubrication technology: By using negative pressure dust suppression structure and non-volatile grease, it can achieve no pollution to the environment and meet the cleanliness requirements.
(2) High-speed and smooth control technology: Through the trajectory optimization and improved joint servo performance, the smoothness of clean handling is achieved.
(3) Miniaturization technology of the controller: According to the high construction and operation cost of the clean room, the footprint of the clean robot is reduced by the miniaturization technology of the controller.
(4) Wafer inspection technology: Through the optical sensor, it is possible to obtain information such as missing or tilted wafers in the cassette by scanning the robot.
Key technologies include:
(1) Open modular control system architecture: adopts distributed CPU computer structure, which is divided into robot controller (RC), motion controller (MC), photoelectric isolation I/O control board, sensor processing board and programming Teaching box and so on. The robot controller (RC) and the programming teach pendant communicate via the serial/CAN bus. The main computer of the robot controller (RC) completes the motion planning, interpolation and position servo of the robot, as well as the functions of the main control logic, digital I/O, sensor processing, etc., and the programming teaching box completes the display of information and the input of the keys.
(2) Modular and hierarchical controller software system: The software system is built on the open source-based real-time multitasking operating system Linux, which adopts layered and modular structure design to realize the openness of the software system. The entire controller software system is divided into three levels: hardware driver layer, core layer and application layer. The three levels face different functional requirements, corresponding to different levels of development. Each level in the system consists of several modules with opposite functions. These functional modules cooperate with each other to realize the functions provided by the level.
(3) Fault diagnosis and safety maintenance technology of the robot: Diagnosing the robot fault through various information and performing corresponding maintenance is the key technology to ensure the safety of the robot.
(4) Networked robot controller technology: At present, the application engineering of robots has evolved from a single robot workstation to a robot production line, and the networking technology of robot controllers has become more and more important. The controller has networking functions of serial port, field bus and Ethernet. It can be used for communication between robot controllers and robot controllers with the host computer, which is convenient for monitoring, diagnosis and management of the robot production line.
Mobile robot (AGV)
Mobile robot (AGV) is a type of industrial robot. It is controlled by computer and has functions such as mobile, automatic navigation, multi-sensor control, network interaction, etc. It can be widely used in machinery, electronics, textile, cigarette, medical, food, Flexible handling, transmission and other functions in the papermaking industry, etc., also used in automated warehouses, flexible processing systems, flexible assembly systems (with AGV as an active assembly platform); and as a means of transport at the station, airport, post office .
One of the new trends in the development of international logistics technology, and mobile robots are the core technology and equipment. It is a high-bay storage, operation and handling phase that uses modern logistics technology to coordinate, support, transform and upgrade traditional production lines to achieve point-to-point automatic access. Combine and realize high-tech and equipment such as refinement, flexibility, and informationization, shortening logistics processes, reducing material loss, reducing floor space, and reducing construction investment.
The spot welding robot welding robot has the characteristics of stable performance, large working space, fast moving speed and strong load capacity. The welding quality is obviously better than manual welding, which greatly improves the productivity of spot welding operations.
The spot welding robot is mainly used for the welding work of the whole vehicle. The production process is completed by the major automobile OEMs. With the long-term cooperation relationship with major automobile companies, international industrial robot companies provide various spot welding robot unit products to major automobile manufacturers and enter China in the form of welding robots and complete vehicle production lines, occupying a dominant position in this field.
With the development of the automotive industry, the welding production line requires the integration of welding tongs and the weight is getting larger. The 165 kg spot welding robot is the most commonly used robot in automotive welding. In September 2008, the Robotics Institute developed the first 165 kg spot welding robot in China and successfully applied it to the Chery Automobile Welding Workshop. In September 2009, the second robot with optimization and performance improvement was completed and passed the acceptance test. The overall technical index of the robot has reached the level of similar robots abroad.
Arc welding robot arc welding robot is mainly used in the welding production of various types of automotive parts. In this field, international large-scale industrial robot manufacturers mainly provide unit products to complete equipment suppliers. The company is mainly engaged in the production of complete sets of arc welding robots. According to the different needs of various projects, it can produce robot unit products in complete sets of equipment, and can also purchase and form various sets of arc welding robots for large industrial robot enterprises. In this field, the company and the large international industrial robot manufacturers are both competitive and cooperative.
Key technologies include:
(1) Arc welding robot system optimization integration technology: Arc welding robot adopts AC servo drive technology and high precision, high rigidity RV reducer and harmonic reducer, with good low speed stability and high speed dynamic response, and can be realized Maintenance function.
(2) Coordinated control technology: control the coordinated movement of multiple robots and positioners, which can maintain the relative posture of the welding torch and the workpiece to meet the requirements of the welding process, and avoid collision between the welding torch and the workpiece.
(3) Precision weld trajectory tracking technology: Combining the advantages of laser sensor and visual sensor offline working mode, laser sensor is used to realize weld seam tracking during welding, and the flexibility and adaptability of welding robot for welding complex workpieces is improved. The sensor observes the residual deviation of the weld seam offline, obtains the compensation data based on the deviation statistics and corrects the movement track of the robot, and obtains the best welding quality under various working conditions.
Laser processing robot The laser processing robot applies robot technology to laser processing and realizes more flexible laser processing operations through high-precision industrial robots. The system is operated online via the teach pendant and can also be programmed offline. The system generates a model of the workpiece by automatically detecting the workpiece, and then generates a machining curve, which can also be directly processed by using CAD data. It can be used for laser surface treatment, punching, welding and mold repair of workpieces.
Key technologies include:
(1) Laser processing robot structure optimization design technology: adopting a large-scale frame-type body structure to ensure the accuracy of the robot while increasing the working range;
(2) Error compensation technology of robot system: For the integrated processing robot with large working space and high precision, combined with its structural characteristics, the hybrid robot compensation method based on non-model method and model-based method is used to complete the geometric parameter error. Compensation for errors with non-geometric parameters.
(3) High-precision robot detection technology: Combining the three-coordinate measurement technology with the robot technology, the robot achieves high-precision online measurement.
(4) Language processing technology for laser processing robot: According to the characteristics of laser processing and robot operation, the language of laser processing robot is completed.
(5) Network communication and offline programming technology: It has serial communication, CAN and other network communication functions to realize the monitoring and management of the robot production line; and realize the offline programming control of the upper computer to the robot.
The vacuum robot vacuum robot is a robot that works in a vacuum environment and is mainly used in the semiconductor industry to realize the transmission of wafers in a vacuum chamber. Vacuum manipulators are difficult to import, restricted, large in quantity, and versatile, which has become a key component that restricts the R&D progress of semiconductor equipment and the competitiveness of the whole machine. Moreover, foreign countries have severely reviewed Chinese buyers and attributed them to the embargoed product catalogue. Vacuum manipulators have become a "card neck" problem that seriously restricts the manufacture of semiconductor equipment in China. The direct drive vacuum robot technology belongs to the original innovative technology.
Key technologies include:
(1) New configuration design technology of vacuum robot: Through structural analysis and optimization design, avoiding international patents, designing new configuration to meet the requirements of vacuum robot for stiffness and expansion ratio;
(2) Large gap vacuum direct drive motor technology: involving large gap vacuum direct drive motor and high clean direct drive motor to carry out motor theoretical analysis, structural design, manufacturing process, motor material surface treatment, low speed and large torque control, small multi-axis drive etc.
(3) Design of multi-axis precision shafting system in vacuum environment. The design of the shaft in the shaft is used to reduce the problem of misalignment between the axes and the inertia of the inertia.
(4) Dynamic trajectory correction technology: Through the fusion of sensor information and robot motion information, the offset between the reference position between the wafer and the finger is detected, and the motion trajectory is dynamically corrected to ensure that the robot accurately takes the wafer from the vacuum chamber. One station in the room is transferred to another station.
(5) Vacuum robot language conforming to SEMI standard: The vacuum robot special language is completed according to vacuum robot handling requirements, robot operation characteristics and SEMI standards.
(6) Reliability system engineering technology: In IC manufacturing, equipment failure will bring huge losses. According to the high requirements of MCBF for semiconductor equipment, the reliability of each component is tested, evaluated and controlled to improve the reliability of each component of the robot, thus ensuring that the robot meets the high requirements of IC manufacturing.
Clean Robot Clean Robot is an industrial robot used in a clean environment. As the level of production technology continues to increase, its requirements for the production environment are increasingly demanding. Many modern industrial products are required to be produced in a clean environment. Clean robots are the key equipment for production in a clean environment.
Key technologies include:
(1) Clean lubrication technology: By using negative pressure dust suppression structure and non-volatile grease, it can achieve no pollution to the environment and meet the cleanliness requirements.
(2) High-speed and smooth control technology: Through the trajectory optimization and improved joint servo performance, the smoothness of clean handling is achieved.
(3) Miniaturization technology of the controller: According to the high construction and operation cost of the clean room, the footprint of the clean robot is reduced by the miniaturization technology of the controller.
(4) Wafer inspection technology: Through the optical sensor, it is possible to obtain information such as missing or tilted wafers in the cassette by scanning the robot.
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