Cooperative robots have only begun to gain wide attention in recent years, but the concept of cooperative robots was first proposed in the 1990s. Collaborative robots, as an emerging and highly-regarded type of robot, have many advantages, and they are summarized in four main categories: safety, low cost, flexibility, and easy-to-use methods.
It is predicted that the collaborative robots will increase tenfold from 2015 to 2020, and the market value will increase from 95 million US dollars in 2014 to 1 billion US dollars. The lightweight robots will be popular within two years and the price will drop to 1.5 to 20,000. Dollars. Analyst company TechNavio estimates that by 2019, the annual compound annual growth rate of global robots will be 50.88%.
1 three representatives - Japanese, European and domestic
Yaskawa: human-robot collaborative robot MOTOMAN-HC10
There are two common problems in the method of human-machine collaboration security setting on the market: First, safety gratings need to be set up to protect personal safety, and equipment and cost are increased. Second, operators are complicated and unskilled operators cannot control robots. . For this purpose, Yaskawa Electric has introduced the MOTOMAN-HC10 with the characteristics of “use immediately after installation†and “safety and convenienceâ€. All axes are equipped with a force sensor, which automatically stops when it detects the touch with the human body. The outer arm of the machine is wrapped with a blue soft material that absorbs collisions. It can completely realize the HC10 work in the same space as the person. It does not require a safety barrier and saves costs.
UPro: the world's first, UR5 robot
When referring to the representatives of the European Union, UPro robots are doing their part. The UR5 is arguably the world's first collaborative robot and it has been available since 2009. Human commands can be understood only through voice, gestures, and graphics; human-machine collaboration requires no obstructions and can be produced safely, with superior human perception performance; modular plugs and production components, integrated robotic systems that can be deployed in three days.
Xinsong: "Tai Chi" 7-joint robot
What are the factors that determine the flexibility of industrial robots? As we all know, the most important factor is the number of axes. The number of robot axes determines its degree of freedom. The higher the degree of freedom is, the closer the robot is to the function of the human hand and the more universal it is; but the more degrees of freedom, the more complex the structure, and the higher the overall requirements for the robot. This is A contradiction in robot design. The 7-axis flexible multi-joint robot designed by Xinsong Robots can be said to be the first 7-DOF cooperative robot in China with features such as quick configuration, traction teaching, visual guidance, and collision detection. If you work in a small space and you need to twist and reverse the robot arm repeatedly, this seven-axis robot would be a good choice.
2 ultimate meaning - product definition of collaborative robots
flexibility
Compared to industrial robots on traditional large-scale production lines, collaborative robots need to collaborate with humans, and their structure should be lighter, more flexible, and more manoeuvrable.
Ease of use
Collaborative robots emphasize ease of use, such as gestures, and can be followed by sensory devices to reduce the use of thresholds. Front-line workers may need only a few hours to operate, eliminating the need for complex programming and configuration of traditional industrial robots.
safety
Collaborative robots are mainly used for human-robot collaboration and work with humans. They must be safe and cannot accidentally harm people. This requires a high level of awareness and control of collaborative robots.
low cost
Collaborative robots for small and medium-sized enterprises, the lowest possible cost is very important, but often low-cost performance will also be reduced, if you improve the performance while controlling costs, it is relatively difficult.
3 Indispensable - Servo and Sensor
The cooperative robot must have the above four characteristics, it must have the ability to sense, control and limit the torque. By sensing the external minimum torque changes and reacting to avoid collisions, the human-machine collaboration process is easier and safer.
1. Ultra-small, powerful servo driver
A physical size of the driver is small enough to be directly mounted on the robot joint, ensuring that the robot is small and compact. The servo driver is directly mounted on the robot joint, and placing the driver close enough to the encoder feedback can save cables, reduce the influence of interference, obtain relatively low EMI and RFI indicators, and greatly improve system stability. Another feature that makes the drive easier to integrate into the joint is the inherent robustness of the drive, which can withstand extremely high mechanical acceleration and deceleration within the joint.
2, double closed-loop control algorithm
The double closed-loop control algorithm can improve the servo motor performance to achieve the optimal state. Each axis in the system employs a double closed-loop control algorithm to increase the positioning accuracy of the rear joint end position of the reducer. Incremental encoders and Hall elements are placed on the front of the gearbox as speed loop feedback, and a 19-bit high-resolution absolute encoder is used as the end-of-load position feedback.
3. Sports redundancy
Kinematic redundancy is useful for operating several robots in a specific space, because the motion interference is easy to handle. The six degrees of freedom are the minimum degrees of freedom with the ability to complete spatial positioning. More than six axes of robots are collectively referred to as redundant degrees of freedom robots. Compared to a traditional 6-joint robot, a 7-joint robot can extend a robotic arm to a specific original at multiple angles. The redundant degree of freedom robot has more advantages in obstacle avoidance, overcoming singularity, flexibility and fault tolerance, so industrial robots with redundant degrees of freedom in complex work environments will have more uses.
4, the torque sensor
In a human-machine collaborative environment, these robots are arranged to perform high-speed, high-precision tasks. Using cameras, force sensors, and other sensory components, the robot can sense the presence of people and act accordingly to avoid harm to people. In some cases, a torque sensor is placed behind the motor gearbox to directly detect any rapidly increasing change in external torque; at other times, the robot needs to output a certain torque to lift the load and move the load from one position to another. . When the robot recognizes an abnormal torque increase during a movement, such as a collision, it automatically stops.
5, safety sensor
To cooperate with industrial robots and humans, we must first find out ways to ensure the safety of operators. These sensors come in a variety of forms, from cameras to lasers, for the sole purpose of telling the situation around the robot. The simplest example is the laser safety sensor on the elevator door. When the laser detects an obstacle, the door immediately stops closing and retracts to avoid collision. Most of the safety sensors in the robotics industry are also similar.
6, parts detection sensor
In part picking applications (assuming there is no vision system), you cannot know if the robot gripper grabs the part correctly. The part inspection application can provide you with feedback on the location of the hand. For example, if the gripper misses a part, the system will detect the error and repeat the operation once to ensure that the part is properly gripped.
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