ABB XTB750B01 controller module card stock Shunfeng package mail

Description

XTB750B01 mechanical design: design the mechanical mechanism of each joint according to the design requirements and process description, and determine the materials and processing technology of each component; Make the calculation sheet, check the mechanical strength, driving power, give the maximum grasping (lifting) weight, calculate the inertia of each motion path, and calculate the position and attitude control. Check the service life of each key component of the robot. Combined with control program and circuit, make robot maintenance instructions.
Program control design: design the control process according to the design requirements and the process route finally formulated by the mechanical engineer; Combining the mechanical structure with the driving and signal feedback methods, the robot motion program is designed; The program shall have adaptive function, automatic fixed-point tracking, real-time monitoring of welding machine current and voltage, and automatic adjustment; Image monitoring and discrimination technology is used for weld bead and weld pool.

XTB750B01 Design Circuit Diagram
With such a document, we can easily design; So the first thing we need to do is: draw a simple diagram of the robot’s movement, plan the robot’s trajectory, and then we can design the mechanical mechanism and consider the circuit diagram of the program.
First, make a sketch to study the motion trace.
XTB750B01 robot motion diagram:
After we draw the mechanical motion sketch, we generally analyze the sketch first; Although the sketch can not fully reflect the composition of the mechanical structure, it shows the overall outline of the object to be designed.
So where can we start to analyze the sketch of our robot?
First, let’s take a look at the content of the design assignment. From the task book, we know that three of the six axes are rotating, and the rest are swinging.
In combination with the assignment book, let’s see if the first axis, the fourth axis and the sixth axis are rotating. That is to say, we should check whether the sketch we have drawn conforms to the requirements in the assignment book. If it conforms to the requirements, it means that our design ideas and requirements (customer requirements) are the same, and we can proceed to the next step. If it is different, we have to draw the sketch again.
It can be seen from the sketch that the robot’s arm has a large telescopic range; If the arms are all straight, and we assume that they are the same steel body, then a cantilever beam with one end fixed will be formed.
Applying the beam analysis in the mechanical knowledge system, we know that to understand the deformation of the cantilever beam, we must first know the weight and section inertia of the beam.
As shown in the diagram, it is not easy to know the section shape and inertia because there are multiple joints connected. Only after all mechanisms have been designed can the desired parameters be known.
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It can be seen from the diagram that the second axis is responsible for the up and down movement of the arm, and the arm is relatively long, so there must be inertial impulse in the movement process, that is, when the movement speed of the big arm is very slow, the inertia is very small; If the speed is increased, the inertia will increase. The inertia impulse has a linear relationship with the speed; How to maintain a certain speed without changing the inertia? As we all know, increasing damping can effectively eliminate this relationship. In this way, you can understand the meaning of the two springs in the diagram.
That’s right. Let’s start from the wrist. It is also known as the top-down design method.
What should be considered in wrist design? It can be known that there is a welding gun. The weight of the welding gun is not very heavy. At the same time, there should be a gripper to hold the welding gun. That is to say, the load of the wrist is not large when it is rotating, so it is OK to select components with small driving power.
Let the wrist rotate in a 360 degree range, followed by a swinging joint; The wrist is at the front end of the robot arm, of course, the overall mass cannot be too heavy. What kind of organization is the best? Let’s consider several options:
1. As shown in the diagram, planetary gear transmission is adopted. The motor drives the sun wheel, the planet wheel rotates around the sun wheel, the internal gear decelerates through the star wheel and moves in the opposite direction with the sun wheel, and the motor and the sun wheel are installed in the same axis.
2. Multi stage gear reduction transmission, and the motor is installed on one side of the wrist.
3. Cycloidal pin wheel reduction drive, the motor and eccentric shaft are installed in the same axis.
4. There are two installation methods for the motor of worm gear and worm reducer; One is installed at a 90 degree angle with the output shaft, and the other is installed in a reverse dislocation with the output shaft coaxial line.
As mentioned above, there are many ways to do this. Which one is the best? In this way, we will make a comparison. From the above scheme, the second method is not feasible; If the fourth method is adopted, the wrist structure will be very large, which is not conducive to precise positioning of the robot during movement. In this way, we remove the two methods. Let’s compare the first method with the third method;
Planetary gear transmission, with large transmission ratio, complex structure, clearance between gear pairs, and no self-locking. If the gear is used, the gear accuracy must be improved. Because of the precision transmission, the gear material cannot be selected according to the conventional gear, and the processing technology is more complex than the conventional gear.
Cycloidal pin gear transmission, with large transmission ratio, complex structure, small transmission clearance, and self-locking. If it is used, the size of the wrist will not be too small, and it is difficult to process the parts and ensure the accuracy.

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