The Basic Composition And Characteristics Of Traditional Six Axis Robots

Traditional Axis Robots are mainly composed of body structural components, reducers, servo motors, controllers, etc.

Main structural components

The body of an industrial robot consists of a rotating machine base, a large arm, a small arm, and other parts, and is the most direct mechanical structure outside the robot. The structural components of the robot body include various materials such as cast iron, cast steel, cast aluminum, and structural steel.

Reducer

The reducer is used to carry the load of various joints of the robot. The high-speed and low torque output by the motor is converted into low-speed and high torque through the reducer, thereby increasing the output torque of each axis of the robot and enabling it to withstand larger loads. Robots have high requirements for reducers, which require small volume, small mass, high reduction ratio, high accuracy, and impact resistance.

There are currently two main types of reducers widely used in multi joint robots: RV reducers and harmonic reducers. RV reducers are generally placed in heavy load positions such as the boom and shoulders due to their higher stiffness and rotational accuracy; The harmonic reducer is placed on the forearm and wrist.

Drive control system

The drive control system is mainly used to control the robot to move according to the set motion parameters. It mainly includes servo drivers, servo motors, and controllers.

(1) Servo motors are mainly used to drive the joints of robots, requiring maximum power to mass ratio and torque to inertia ratio, high starting torque, low inertia, and a wide and smooth speed range;

(2) A servo driver is a device that drives a servo motor to move. According to the instructions of the controller, the servo driver gives the servo motor the corresponding current to ensure that the servo motor moves according to the required motion speed, acceleration, operating position, and other conditions, thereby ensuring that the motion of the robotic arm meets the set requirements.

(3) The controller can manually set its internal parameters to achieve various functions such as position control, speed control, and torque control of the robot.

Traditional six axis industrial robots generally have six degrees of freedom, including rotation (S-axis), lower arm (L-axis), upper arm (U-axis), wrist rotation (R-axis), wrist swing (B-axis), and wrist rotation (T-axis). Synthesize 6 joints to achieve a 6-degree-of-freedom motion at the end.

Axis1: The first axis is the part that connects the base, carrying the weight of the entire robot and the left and right rotation of the base;

Axis2: control the forward and backward swing of the robot arm;

Axis3: control the forward and backward swing of the robot arm;

Axis4: control the rotation of the robot arm;

Axis5: controls and fine tunes the rotation of the robotic arm wrist, usually allowing for product flipping after gripping;

Axis6: used for the rotation function of the end fixture part, which can more accurately position the product.

According to different application scenarios, the wrist part also has different structural design methods. B (bend) represents a curved structure, and R (revolve) represents a rotating structure.