Is the extreme joint of industrial robot rotates how accurate pilot?

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  • source:ZIEG CNC Machining
The drive of the robot and layout are designed from theoretic telling should be more mature domain, if have prototype, ravel the structure that sees can know much. But press in what the structure optimizes the design experience, standardization that assembles a standard, spare parts need custom-built and supply catenary to optimize those who wait for respect home manufacturer to still need for a long time to accumulate. The article is with Kuka exemple, iiwa of cent cooperation robot and traditional robot KR two old series. The synergic robot of current main trend of synergic robot Iiwa is used " modular " the articulatory design of the thought, use straight drive electric machinery + the means of harmonic reducer, every articulatory internal composition agrees basically, just size is not quite same, for example every axis of Iiwa is basic it is next graphs such: Reducer of drive of electric machinery, servo, harmonic, electric machinery was included to carry sensor of sensor of buy of coder, joint end position and moment of force in each joint, electric machinery and reducer are used connect continuously. Whole joint is as follows in the layout of robot interior: Traditional robot KR to KR series this kind traditional robot is told, endmost composition is general according to contented " 3 axes axes was handed in " basic principle will do, basically distinguish those who depend on 3 electric machinery to decorate with transmission way. A lot of robots before KUKA are used 4, 5, electric machinery of 6 3 axes is decorated in small arm rear, through homocentric axis + bevel gear / the means drive of synchronous belt arrives the means of the artifice, it is with KR5 exemple: The motivation of 3 electric machinery passes an artifice through homocentric axis, wrist ministry structure is as follows: Enlarge graph: Sum up KUKA is new in last few years the Agilus set machine that roll out is factitious the appearance with fine and compact pursuit, used will 4, 5, the buy inside electric machinery of 6 3 axes is in the means of small arm interior. Actually robot of traditional industry is told, each main difference depends on 5 axes and of 6 axes decorate means, have the aid of of foreign capital brand is mixed at deep design strength powerful custom-built ability, use gear generally the means of synchronous perhaps belt uses as motivation is transmitted, after the comparison that decorates electric machinery leans, what because this robot is small,arm and artifice place do is more compact. And the precision of the measure that homebred manufacturer gets electric machinery of finished product of be confined to, gear and noise, problem that assembles experience inadequacy, 5, 6 axes adopt the way that leads even odd perhaps synchronism continuously more, bring about wrist department measure to slant generally big. Machinery is a broad and profound course, regrettablly home always has one to plant " machinery is very simple " argument. CNC Milling CNC Machining