Key technologies

1. Key technologies of ontology design

(1) Transmission structure design

Develop an overall plan, determine the robot's structural form, and conduct preliminary transmission structure design, component structure design, and 3D modeling based on this plan. This requires the designer to be familiar with and understand common robot structures, common transmission principles and structures, and reducer types and characteristics, and possess strong structural design skills and experience.

(2) Reducer selection

A thorough understanding of reducer structure and performance parameters is essential, enabling the selection and calculation of reducer models. Reducer inspection and testing are essential, focusing on noise, jitter, output torque, torsional stiffness, backlash, repeatability, and positioning accuracy. Reducer vibration can cause vibration at the robot's end point, reducing the robot's trajectory accuracy. Reducer vibration can arise from a variety of sources, with resonance being a common problem. Robotics companies must master methods to suppress or avoid resonance.

(3) Motor selection

It is necessary to have a thorough understanding of the motor's operating characteristics and be able to calculate and verify the motor's torque, power, and inertia.

(4) Simulation analysis

Conduct static and dynamic simulation analysis to select and verify motors and reducers, and verify the strength and stiffness of body components to reduce weight, improve robot efficiency, and lower costs. Perform modal analysis on 3D models to calculate natural frequencies, which helps suppress resonance.

(5) Reliability design

The structural design adopts the principle of minimalist design; the main body castings are made of ductile iron with good comprehensive performance, and the aluminum castings are made of casting materials with good fluidity, and are cast in metal molds; the assembly must have detailed assembly process instructions, and there must be component and single-axis tests during the assembly process; after assembly, there must be whole machine performance tests and endurance copy tests; the protection level design of the whole machine is improved, and the anti-interference ability of the electrical cabinet is improved to suit the use in different working environments.

2. Key technologies of motor servo

(1) Motor

①Lightweight

For robots, the size and weight of motors are very sensitive. One of the key technologies for robot motors is to improve the efficiency of servo motors, reduce the space size of motors and reduce the weight of motors through research on technologies such as high-magnetic material optimization, integrated optimization design, and processing and assembly process optimization.

②High speed

When the reduction ratio cannot be adjusted significantly, the maximum speed of the motor directly affects the terminal speed and working rhythm of the robot; and a speed ratio that is too low will affect the inertia matching of the motor. Therefore, increasing the maximum speed of the motor is also one of the key technologies of the robot motor.

③Direct drive, hollow

With the continuous maturity and promotion of collaborative robots, the requirements for lightweight and compact robot structures are increasing. The development of robot-specific motors such as high-torque direct drive motors and disc-type hollow motors is also a future trend.

(2) Servo

①Quick response and precise positioning

The response time of the servo directly affects the robot's quick start and stop effect, and affects the robot's work efficiency and rhythm.

② Sensorless method to achieve elastic collision

Safety is a key performance metric for robots. While adding force or torque sensors complicates the structure and increases costs, sensorless elastic collision technology, based on the coupling relationship between encoders and motor currents, can improve robot safety to a certain extent without changing the robot's structure or increasing its cost.

③ All-in-one drive and control.

All-in-one drive, multi-core CPU and multi-axis drive control integrated technology improves system performance and reduces drive size and cost.

④Online adaptive chattering suppression

The cantilever structure of industrial robots is prone to vibration during multi-axis linkage, heavy loads, and rapid starts and stops. The robot's body stiffness must match the motor servo stiffness parameters. Excessive stiffness will cause vibration, while too low stiffness will result in slow start-stop response. The robot's stiffness varies in different positions and postures, as well as under different tooling loads. It is difficult to meet the requirements of all working conditions by pre-setting the servo stiffness value. Online adaptive vibration suppression technology proposes an intelligent control strategy that does not require parameter debugging. It takes into account the requirements of stiffness matching and vibration suppression, thereby suppressing robot end-point vibration and improving end-point positioning accuracy.

3. Control key technologies

(1) Motion solution and trajectory planning

Motion solving and optimal path planning improve the robot's motion accuracy and work efficiency.

(2) Dynamic compensation

Typical industrial robots are tandem cantilever structures with weak rigidity, complex motion, and prone to deformation and vibration. This requires a combination of kinematics and dynamics. To improve the robot's dynamic performance and enhance motion precision, the robot control system must establish a dynamic model and implement dynamic compensation. This compensation primarily includes gravity compensation, inertia compensation, friction compensation, and coupling compensation.

(3) Calibration compensation

Due to machining and assembly errors, the robot's mechanical body inevitably deviates from the theoretical mathematical model, reducing the robot's TCP and trajectory accuracy. This can severely impact welding and offline programming applications. This problem can be effectively addressed by using detection and algorithmic calibration to compensate for the robot's model parameters.

(4) Improved process package

The control system must be combined with actual engineering applications. In addition to continuous upgrading and becoming more powerful, the system must also continuously develop and improve process packages based on the needs of industry applications. This will help accumulate industry process experience and make it more convenient for customers to use, simpler to operate, and more efficient.