Mobile robot is an industrial robot, which is controlled by computer and has the functions of moving, automatic navigation, multi-sensor control, network interaction and so on. It can be widely used in flexible handling and transportation of machinery, electronics, textiles, cigarettes, medical care, food, paper making and other industries, as well as automatic three-dimensional warehouses, flexible processing systems and flexible assembly systems (with AGV as the mobile assembly platform). At the same time, it can be used as a means of transportation for sorting goods at stations, airports and post offices.
One of the new trends of international logistics technology development, and mobile robot is the core technology and equipment. It is a high-tech and equipment that uses modern logistics technology to cooperate, support, transform and upgrade traditional production lines, realize the combination of point-to-point automatic warehousing, operation and handling, realize refinement, flexibility and informationization, shorten logistics process, reduce material consumption, reduce floor space and reduce construction investment.
Spot welding robot
Welding robot has the characteristics of stable performance, large workspace, fast moving speed and strong load capacity. The welding quality is obviously better than manual welding, which greatly improves the productivity of spot welding.
Spot welding robot is mainly used to weld the whole vehicle, and the production process is completed by major automobile OEMs. By virtue of long-term cooperation with major automobile enterprises, international industrial robot enterprises provide various spot welding robot unit products to major automobile manufacturers, and enter China in the form of welding robots and vehicle production lines, occupying a leading position in this field.
With the development of automobile industry, the welding production line requires the integration of welding pliers, and the weight is getting heavier and heavier. 165 kg spot welding robot is the most commonly used robot in automobile welding at present. In September 2008, Robot Research Institute developed the first 165 kg spot welding robot in China, and successfully applied it to Chery automobile welding workshop. In September 2009, the second robot with optimized performance was manufactured and passed the acceptance test successfully. The overall technical index of the robot has reached the level of similar robots abroad.
Arc welding robot
Arc welding robot is mainly used in welding production of various automobile parts. In this field, large international industrial robot manufacturers mainly provide unit products to complete equipment suppliers.
Key technologies include:
(1) Optimization and integration technology of arc welding robot system: Arc welding robot adopts AC servo drive technology, high-precision and high-rigidity RV reducer and harmonic reducer, which has good low-speed stability and high-speed dynamic response and can realize maintenance-free function.
(2) Coordinated control technology: Controlling the coordinated movement of multi-robot and positioner can not only keep the relative posture of welding torch and workpiece meet the welding process requirements, but also avoid the collision between welding torch and workpiece.
(3) Accurate seam tracking technology: Combining the advantages of off-line working mode of laser sensor and visual sensor, the laser sensor is used to realize seam tracking in the welding process, which improves the flexibility and adaptability of welding robot when welding complex workpieces. The residual deviation of seam tracking is obtained through off-line observation of visual sensor, and the compensation data is obtained based on deviation statistics to correct the robot trajectory, so as to obtain the best welding quality under various working conditions.
Laser processing robot
Laser processing robot applies robot technology to laser processing, and realizes more flexible laser processing operation through high-precision industrial robots. This system can be operated on-line through the teaching box or programmed off-line. The system can automatically detect the workpiece, generate the model of the workpiece, and then generate the machining curve, or directly use CAD data for machining. It can be used for laser surface treatment, drilling, welding and mold repair of workpieces.
Key technologies include:
(1) Structure optimization design technology of laser processing robot: large frame body structure is adopted to increase the working range of the robot and ensure the accuracy of the robot;
(2) Robot system error compensation technology: According to the requirements of large workspace and high precision of integrated processing robot, combined with its structural characteristics, a hybrid robot compensation method combining non-model method and model-based method is adopted to compensate geometric parameter error and non-geometric parameter error.
(3) High-precision robot detection technology: Combine the three-coordinate measurement technology with robot technology to realize high-precision robot online measurement.
(4) Realization technology of special language for laser processing robot: According to the characteristics of laser processing and robot operation, the special language for laser processing robot is completed.
(5) Network communication and off-line programming technology: it has network communication functions such as serial port and CAN to realize the monitoring and management of robot production line; And realize the off-line programming control of the robot by the upper computer.
Vacuum robot
Vacuum robot is a kind of robot working in vacuum environment, which is mainly used in semiconductor industry to realize wafer transmission in vacuum chamber. Vacuum manipulator is difficult to import, has many restrictions, consumes a lot and has a wide range of uses, and has become a key component that restricts the research and development progress of the whole semiconductor equipment and the competitiveness of the whole product. Moreover, foreign buyers are strictly examined in China and belong to the list of prohibited products. Vacuum manipulator has become a "bottleneck" problem that seriously restricts the manufacture of semiconductor equipment in China. Direct drive vacuum robot technology belongs to the original innovation technology.
Key technologies include:
(1) New configuration design technology of vacuum robot: through structural analysis and optimization design, avoid international patents and design new configuration to meet the requirements of vacuum robot for stiffness and expansion ratio;
(2) Large-gap vacuum direct drive technology: It involves the theoretical analysis, structural design, manufacturing technology, surface treatment of motor materials, low-speed and high-torque control, and small multi-axis drivers of large-gap vacuum direct driver and high-clean direct driver.
(3) Design of multi-axis precision shafting in vacuum environment. The design method of shaft center axis is adopted to reduce the problems of eccentricity and inertia asymmetry between shafts.
(4) Dynamic trajectory correction technology: Through the fusion of sensor information and robot motion information, the deviation between the reference position of the wafer and the finger is detected. By dynamically correcting the motion trajectory, the robot can accurately transfer the wafer from one station to another in the vacuum chamber.
(5) Vacuum robot language conforming to SEMI standard: according to the handling requirements of vacuum robot, robot operation and the characteristics of SEMI standard, complete the special language for vacuum robot.
(6) Reliability system engineering technology: In IC manufacturing, equipment failure will bring huge losses. According to the high requirements of semiconductor equipment for MCBF, the reliability of each part of the manipulator is tested, evaluated and controlled to improve the reliability of each part of the manipulator, so as to ensure that the manipulator meets the high requirements of IC manufacturing.
Cleaning robot
Cleaning robot is an industrial robot used to clean the environment. With the continuous improvement of production technology, its requirements for production environment are getting higher and higher. Many modern industrial products are required to be produced in clean environment, and clean robot is the key equipment needed for production in clean environment.
Key technologies include:
(1) Clean lubrication technology: By adopting negative dust suppression structure and non-volatile grease, no particle pollution to the environment can be achieved, and the cleaning requirements can be met.
(2) High-speed smooth control technology: through trajectory optimization and improving joint servo performance, the smoothness of clean handling is realized.
(3) Controller miniaturization technology: In view of the high cost of clean room construction and operation, the space occupied by cleaning robots is reduced by controller miniaturization technology.
(4) Wafer inspection technology: The information of the wafer in the box can be obtained through optical sensor and robot scanning.