Usually, the images of industrial robots, bipedal robots, quadruped robots and robots in animation works are mostly robot bodies, while robot control system is the hero behind the scenes, similar to human brain. This control system is often installed inside the robot body or has a separate control unit.
Let's take a look at the following picture (excerpted from the official website of zigou hi tech). This picture depicts an overview of an industrial robot system. An industrial robot system includes the robot body, servo motor (or DC motor), reducer, driver, controller, teaching device, and some peripheral devices, such as camera, six axis force sensor, IO module Welding parts and so on.
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For an industrial robot system, we simplify the above figure, simplify the industrial robot system just now, extract the indispensable parts of the industrial robot system: control system, robot body and teaching device.
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The control system can be divided into two parts: actuator and control system. The actuator includes robot body, servo motor and reducer; The control system is divided into controller, servo driver, teaching device and expansion module. The expansion module includes force sensing module, vision module, grasping module and so on. That is to say, every action that the robot can complete needs to add expansion module.
Now come to the point, let's analyze the function and use of each part in the control system.
For the industrial robot system, the teaching device is used to interact with the user. It can process and memorize the task instructions given to the industrial robot by the user. Generally, it can be divided into three modes: teaching mode, online mode and remote mode. The teaching mode is used to teach the action sequence of the robot, which is finally saved in the teaching box in the form of operation; Online mode is to reproduce the user's teaching job. At this time, the teacher needs to analyze the job online and send the analysis result to the controller. Remote mode means that the user can control the action of the robot through a network cable or network. At this time, the user is not necessarily next to the robot, but can be remote control. More popular understanding: the teaching device is just like the remote control of the remote control racing car. It's the same reason to use the remote control to control the racing car and use the teaching device to control the industrial robot. Emmm, it seems that the tall industrial robot has become less mysterious.
Of course, the interface styles of the teachers are not the same. Here are some of the teachers~
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With the end of the teaching device, let's talk about the control system. The control system is the command center of the whole system. Now there are three kinds of control systems in the market: IPC based bus open control architecture, PC + motion control card separation architecture and highly integrated control architecture. Among them, IPC based bus open control architecture is widely used, which has the advantages of easy expansion and good real-time performance; The separation architecture of PC + motion control card is slightly inferior, its expansibility is weak, and the system is cumbersome and cumbersome; The highly integrated control architecture is mainly suitable for small robot systems. The implementation of the control system depends on a line of code to achieve, including the underlying drive, modeling, kinematics, dynamics, trajectory planning, task planning and other very complex code.
Finally, let's talk about the robot body. It's like a human arm or leg. It's an actuator. It receives instructions from the robot control system. Don't think that the body is just an actuator. The motor and reducer in the body are the core parts of the robot body, especially the reducer.
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Having said so much, what are the application scenarios of industrial robots?
In many manufacturing fields, the most widely used field of industrial robot is automobile and auto parts manufacturing, and it is expanding to other fields, such as mechanical processing industry, electronic and electrical industry, rubber and plastic industry, food industry, wood and furniture manufacturing industry.
In industrial production, welding robot, laser processing robot, spraying robot, handling robot, machine tool robot, stamping robot, vacuum robot and other industrial robots have been widely used.


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