3HAC029818-001 ABB 驱动装置 提供机器人各部位、各关节动作的原动力

1. Robot drive device
Concept: In order for the robot to operate, it is necessary to install a transmission device for each joint, that is, for each degree of freedom of movement. Function: Provide the driving force for all parts and joints of the robot.

Drive system: it can be hydraulic transmission, pneumatic transmission, electric transmission, or a comprehensive system that combines them; It can be directly driven or indirectly driven by mechanical transmission mechanism such as synchronous belt, chain, gear train and harmonic gear.

1, electric drive device

The energy of the electric drive device is simple, the speed varies widely, the efficiency is high, and the speed and position accuracy are high. However, they are mostly connected with the deceleration device, and direct drive is more difficult.

The electric drive device can be divided into DC (DC), AC (AC) servo motor drive and stepper motor drive. Dc servo motor brush is easy to wear, and easy to form sparks. Brushless DC motor has also been more and more widely used. Stepper motor drive is mostly open loop control, simple control but little power, mostly used in low precision and low power robot system.

Check the following before powering on:

1) Whether the power supply voltage is appropriate (overvoltage is likely to cause damage to the drive module); The +/- polarity of the DC input must not be connected incorrectly, and whether the motor model or current setting value on the drive controller is appropriate (not too large at the beginning);
2) The control signal line is firmly connected, and it is best to consider the shielding problem in the industrial site (such as the use of twisted pair);
3) Do not connect all the lines that need to be connected at the beginning, only connect into the most basic system, and then gradually connect after good operation;
4) Be sure to figure out the grounding method, or use floating air not connected;
5) Within half an hour of starting operation, the state of the motor should be closely observed, such as whether the movement is normal, sound and temperature rise, and the problem should be immediately stopped and adjusted.
2, hydraulic drive

It is accomplished by high-precision cylinder and piston, and linear movement is achieved by the relative movement of cylinder and piston rod.

Advantages: large power, can save the reducer directly connected with the driven rod, compact structure, good stiffness, fast response, servo drive with high accuracy.

Disadvantages: need to add a hydraulic source, easy to produce liquid leakage, not suitable for high and low temperature occasions, so the hydraulic drive is currently used for extra-large power robot systems.

Choose the right hydraulic oil. Prevent solid impurities from mixing into the hydraulic system and prevent air and water from invading the hydraulic system. Mechanical operation should be soft and smooth Mechanical operation should avoid rough, otherwise it will inevitably produce impact load, make the mechanical failure frequent, greatly shorten the service life. Pay attention to cavitation and overflow noise. In the operation, we should always pay attention to the sound of the hydraulic pump and the relief valve, if the hydraulic pump appears “cavitation” noise, which can not be eliminated after exhaust, the cause should be identified and the fault can be used. Maintain a suitable oil temperature. The working temperature of the hydraulic system is generally controlled between 30 and 80 ° C.