The robot control system is the brain of the robot, determining its functions and performance. The main task of industrial robot control technology is to control the motion position, posture, trajectory, operation sequence, and timing of actions of industrial robots within the workspace. It features simple programming, software menu operations, a user-friendly human-computer interaction interface, online operation prompts, and ease of use.
Key technologies include:
(1) Open modular control system architecture: Adopting a distributed CPU computer structure, it is divided into the Robot Controller (RC), Motion Controller (MC), optoelectronic isolation I/O control board, sensor processing board, and programming teaching box. The Robot Controller (RC) and programming teaching box communicate via serial/CAN bus. The main computer of the Robot Controller (RC) completes the robot’s motion planning, interpolation, position servo, as well as main control logic, digital I/O, and sensor processing functions, while the programming teaching box displays information and inputs commands.
(2) Modular hierarchical controller software system: The software system is built on an open-source real-time multitasking operating system, Linux, and is designed with a layered and modular structure to achieve software system openness. The entire controller software system is divided into three layers: hardware driver layer, core layer, and application layer. Each layer addresses different functional requirements, corresponding to different levels of development, and consists of several functionally opposing modules that cooperate to achieve the functions provided by that layer.
(3) Robot fault diagnosis and safety maintenance technology: Diagnosing robot faults through various information and performing corresponding maintenance is a key technology to ensure the safety of robots.
(4) Networked robot controller technology: Currently, the application engineering of robots is evolving from single robot workstations to robot production lines, making the networking technology of robot controllers increasingly important. The controller has networking capabilities such as serial ports, field buses, and Ethernet. It can be used for communication between robot controllers and between robot controllers and host computers, facilitating monitoring, diagnosis, and management of robot production lines.
Mobile Robots (AGV)
Mobile robots (AGV) are a type of industrial robot controlled by computers, featuring mobility, automatic navigation, multi-sensor control, and network interaction. They can be widely used in flexible handling and transportation in industries such as machinery, electronics, textiles, tobacco, medical, food, and paper-making, and are also used in automated warehouses, flexible processing systems, and flexible assembly systems (with AGV as an active assembly platform); they can also serve as transport tools for sorting items at stations, airports, and post offices.
One of the new trends in international logistics technology development, mobile robots are core technologies and devices used to support, transform, and enhance traditional production lines with modern logistics technologies, achieving point-to-point automatic storage and retrieval, combining storage, operations, and transportation to realize fine, flexible, and information-based logistics, shortening logistics processes, reducing material waste, minimizing footprint, and lowering construction investments.
Spot Welding Robots
Welding robots are characterized by stable performance, large working space, high motion speed, and strong load capacity, with welding quality significantly superior to manual welding, greatly improving the productivity of spot welding operations.
Spot welding robots are mainly used for the welding of complete vehicles, with the production process completed by major automobile manufacturers. International industrial robot companies leverage long-term cooperative relationships with major automobile manufacturers to provide various spot welding robot unit products to large automobile production enterprises and enter the Chinese market in the form of welding robots paired with complete vehicle production lines, occupying a dominant market position in this field.
With the development of the automotive industry, welding production lines require the integration of welding pliers, with increasing weights; the 165 kg spot welding robot is currently the most commonly used type in automotive welding. In September 2008, the first domestic 165 kg spot welding robot was developed and successfully applied in Chery Automobile’s welding workshop. In September 2009, the second robot, optimized and enhanced in performance, was completed and passed acceptance, with its overall technical indicators reaching the level of similar foreign robots.
Arc Welding Robots
Arc welding robots are primarily used for the welding production of various automobile parts. In this field, major international industrial robot manufacturers mainly supply unit products to complete equipment suppliers. Our company is mainly engaged in the production of complete equipment for arc welding robots, producing robot unit products based on the different needs of various projects, and can also procure from large industrial robot companies to form various complete arc welding robot equipment. In this field, our company has a competitive and cooperative relationship with major international industrial robot manufacturers.
Key technologies include:
(1) Arc welding robot system optimization and integration technology: Arc welding robots use AC servo drive technology and high-precision, high-rigidity RV reducers and harmonic reducers, exhibiting good low-speed stability and high-speed dynamic response, and can achieve maintenance-free functionality.
(2) Coordinated control technology: Coordinating the motion of multiple robots and positioners, maintaining the relative posture between the welding gun and workpiece to meet welding process requirements while avoiding collisions between the welding gun and workpiece.
(3) Precise seam tracking technology: Combining the advantages of offline working modes of laser sensors and vision sensors, using laser sensors for seam tracking during the welding process enhances the flexibility and adaptability of welding robots for complex workpieces, while offline observation with vision sensors obtains residual deviations of seam tracking, based on deviation statistics to gain compensation data for correcting the robot’s motion trajectory, ensuring optimal welding quality under various working conditions.
Laser Processing Robots
Laser processing robots apply robotic technology to laser processing, achieving more flexible laser processing operations through high-precision industrial robots. This system can be operated online via a teaching box or programmed offline. The system automatically detects processed workpieces, generates models, and subsequently creates processing curves, and can also directly process using CAD data. It can be used for laser surface treatment, drilling, welding, and mold repair of workpieces.
Key technologies include:
(1) Laser processing robot structure optimization design technology: Adopting a large range frame structure, increasing the operational range while ensuring robot precision;
(2) Robot system error compensation technology: Addressing the large workspace and high precision requirements of integrated processing robots, and combining structural characteristics, a hybrid robot compensation method integrating non-model and model-based approaches has been employed to compensate for geometric and non-geometric parameter errors.
(3) High-precision robot detection technology: Combining three-coordinate measurement technology with robotic technology, achieving high-precision online measurement of robots.
(4) Laser processing robot dedicated language implementation technology: Completing a dedicated language for laser processing robots based on the characteristics of laser processing and robotic operations.
(5) Network communication and offline programming technology: Featuring serial, CAN, and other networking capabilities for monitoring and managing robot production lines; enabling offline programming control of robots by the host computer.
Vacuum Robots
Vacuum robots are designed to operate in vacuum environments and are primarily used in the semiconductor industry to transport wafers within vacuum chambers. Vacuum manipulators are difficult to import, heavily restricted, widely used, and highly versatile, becoming a key component that restricts the R&D progress and competitiveness of semiconductor equipment. Moreover, foreign scrutiny on Chinese buyers is stringent, categorizing them as restricted products, and vacuum manipulators have become a significant bottleneck in the manufacturing of semiconductor equipment in China. Direct drive vacuum robot technology is considered original innovation technology.
Key technologies include:
(1) New configuration design technology for vacuum robots: Designing new configurations through structural analysis and optimization to avoid international patents while meeting the stiffness and stretch ratio requirements of vacuum robots;
(2) Large gap vacuum direct drive motor technology: Involves theoretical analysis, structural design, manufacturing processes, surface treatment of motor materials, low-speed high-torque control, and small multi-axis drivers for large gap vacuum direct drive motors and high-cleanliness direct drive motors.
(3) Design of multi-axis precision shaft systems in vacuum environments: Utilizing a shaft-in-shaft design method to reduce eccentricity and inertia asymmetry between shafts.
(4) Dynamic trajectory correction technology: Through the fusion of sensor information and robot motion data, detecting the offset between the wafer and the finger’s reference position, dynamically correcting the motion trajectory to ensure the robot accurately transports the wafer from one position to another within the vacuum chamber.
(5) Vacuum robot language compliant with SEMI standards: Completing a dedicated language for vacuum robots based on handling requirements, robotic operation characteristics, and SEMI standards.
(6) Reliability system engineering technology: In IC manufacturing, equipment failures can lead to significant losses. Based on the high requirements for MCBF in semiconductor equipment, testing, evaluating, and controlling the reliability of various components to enhance the reliability of the manipulator’s components, ensuring that the manipulator meets the high demands of IC manufacturing.
Clean Robots
Clean robots are industrial robots used in clean environments. As production technology levels continue to improve, the requirements for production environments are becoming increasingly stringent; many modern industrial products require production in clean environments, making clean robots essential equipment for production in such conditions.
Key technologies include:
(1) Clean lubrication technology: Achieving no particle contamination of the environment through negative pressure dust suppression structures and non-volatile lubricating grease to meet cleanliness requirements.
(2) High-speed stable control technology: Achieving stability in clean handling through trajectory optimization and improved joint servo performance.
(3) Miniaturization technology of controllers: Reducing the space occupied by clean robots through controller miniaturization technology, considering the high construction and operational costs of clean rooms.
(4) Wafer inspection technology: Using optical sensors, the robot’s scanning can obtain information on the presence of defects or tilting in wafers within cassettes.
Source: Robot Network
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