The industry chain of the hottest industrial robot

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Industrial chain of industrial robots! The core components in the upstream of the industrial chain

the Sino US trade conflict initiated by the United States involves China's information and communication technology, aerospace, robotics, medicine, machinery and other industrial products, which is an obvious suppression and containment against made in China 2025. This is not only a trade friction, but also a contest of technology and industry

science and technology are the primary productive forces. In 2015, China issued made in China 2025, placing scientific and technological innovation at the core of the overall national development situation. The 19th CPC National Congress proposed to actively promote the construction of a scientific and technological power, accelerate the development of advanced manufacturing industry, and promote China's industry to move towards the middle and high end of the global value chain

industrial robot industry

the development and application of industrial robots is the top priority for China's manufacturing industry to move towards high-end and intelligent. At present, the industrial robot industry in China is characterized by rapid growth and domestic substitution

industrial robot

industrial robot is a representative of domestic experimental machine manufacturers facing the industrial leader. It is a multi joint manipulator or multi degree of freedom machine device in Jinan experimental machine factory. It can automatically perform work, and it is a machine that realizes various functions by its own power and control ability. It can be commanded by human beings or run according to pre arranged procedures. Modern industrial robots can also act according to the principles and programs formulated by artificial intelligence technology

composition structure

industrial robot is composed of three basic parts: main body, driving system and control system

the main body is the base and actuator, including arm, wrist and hand. Some robots also have walking mechanisms. Most industrial robots have 3-6 degrees of freedom, of which the wrist usually has 1-3 degrees of freedom

the drive system includes a power device and a transmission mechanism, which are used to make the actuator produce corresponding actions. The control system sends command signals to the drive system and actuator according to the input program and controls them

industrial chain of industrial robots

the upstream of the industrial robot industry is the core components, mainly the reducer and control system, which is equivalent to the brain of the robot. The midstream is the body of the robot, that is, the body of the robot, and the downstream is the system integrator. Domestic enterprises are concentrated in this link

the upstream parts and components industry of industrial robots are mainly reducer, servo motor, frequency converter, controller, etc. among them, reducer, servo motor and servo system account for a large proportion in the cost of industrial robots, accounting for 39% and 28% respectively, and body manufacturing accounts for 22%

although the reducer and servo system account for a large proportion of the cost of industrial robots, the development of key components such as domestic reducer and servo motor is relatively lagging behind, with low technical level and poor product stability. Compared with foreign products, there are many gaps, resulting in domestic industrial robot reducer, servo motor and other components mainly rely on imports, and the production cost of industrial robots in domestic enterprises is high and the competitiveness is weak

the core component in the upstream of the industrial chain

servo motor

electric servo drive system is an essential key component of industrial robots. It is an actuator that uses the torque and force generated by various motors to drive the robot body directly or indirectly to obtain various movements of the robot. It is usually composed of servo motors and servo drivers. In addition to speed and torque control, the servo system can also carry out accurate, fast and stable position control

1. Requirements of industrial robots for servo motors

1) fast response. The higher the sensitivity of the electric servo system, the better the fast response performance

2) the starting torque inertia ratio is large. In the case of driving load, the starting torque of the robot's servo motor is required to be large and the moment of inertia is small

3) the continuity and linearity of the control characteristics. With the change of the control signal, the speed of the motor can change continuously. Sometimes, the speed needs to be proportional or approximately proportional to the control signal. The speed regulation range is wide and can be used in the speed regulation range of 1:1000 ~ 1:10000

4) small volume, small mass and short axial size to match the shape of the robot

5) can withstand harsh operating conditions, can carry out very frequent forward and reverse and acceleration and deceleration operations, and can withstand multiple overloads in a short time. AC servo driver is widely used in industrial robots because of its high torque inertia ratio, brushless and commutation spark

2. Core technology of servo motor

1) reliability of signal connector. Domestic servo needs to continue to be improved, and the miniaturization and high density of connectors are also trends. The integrated design with the servo motor body is a good practice. At present, many Japanese servo motors are designed in this way, which is convenient for installation, debugging and replacement

2) high accuracy of encoder. In particular, the multi turn absolute encoder used in industrial robots is heavily dependent on imports, which is one of the important bottlenecks restricting the development of high-end servo systems in China. The miniaturization of encoder is also the core technology of servo motor miniaturization. Throughout the changes of Japanese servo motor products, it is accompanied by the coordinated development and upgrading of motor magnetic circuit and encoder

in addition, there is a lack of basic research on domestic servo systems, including absolute value encoder technology, industrialized manufacturing technology of high-end motors, breakthroughs in production processes, practical verification of performance indicators, formulation of assessment standards, and so on. These need to be improved by the core parts enterprises in the domestic robot industry

3. Some enterprises of robot servo motor


industrial robot controller is the core of robot control system, and the brain of establishing macro-control and market regulation mechanism. The main task of the controller is to solve the forward kinematics and inverse kinematics of the robot, so as to realize the mutual transformation of the robot's operation space coordinates and joint space coordinates, complete the robot's trajectory planning task, and realize high-speed servo interpolation operation and servo motion control

robot controller consists of robot controller hardware and robot controller software. The software part of robot controller is the heart of industrial robots. With the development of science and technology, industrial robots have achieved varying degrees of research results in the application software from the lower computer to the upper computer

the more the number of robot axes, the higher the performance requirements of the controller are: the degree of freedom of the robot depends on the number of movable joints. The more the number of joints, the higher the degree of freedom, and the higher the displacement accuracy, the more servo motors it uses, that is, the more precise the industrial robot uses. Generally, each multi axis robot is controlled by a set of control system, which also means that the higher the performance requirements of the controller

the development of the control system involves many core technologies, including hardware design, bottom software technology, upper function application software, etc. with the accumulation of technology and application experience, the robot controller products of domestic enterprises have been relatively mature, which is the key component with the smallest gap between robot products and foreign products. The hardware platform used by domestic robot controllers is not much different from foreign products, The gap is mainly in the control algorithm and the usability of the secondary development platform

some enterprises of industrial robot controller


the core component of industrial robot reducer is the core of mechanical transmission. The speed and accuracy of robot are related to reducer. The reducer used by industrial robot mainly includes harmonic reducer and RV Reducer

1. Harmonic gear reducer

harmonic gear reducer is a new type of reducer developed based on the principle of planetary gear transmission. It is composed of a wave generator, a flexible wheel and a rigid wheel. The flexible wheel generates controllable elastic deformation by relying on the wave generator, and the flexible wheel and the rigid wheel mesh to transmit motion and power

harmonic drive has the advantages of high motion accuracy, large transmission ratio, small mass, small volume and small transmission inertia. The most important thing is to be able to transmit motion in a confined space, which is impossible for any other mechanical transmission. Its disadvantage is that in harmonic gear drive, the flexible wheel has elliptical deformation twice per revolution, which is very easy to cause fatigue damage of materials and large power loss. At the same time, the torsional deformation angle caused by it reaches 20-30 or even greater. Due to the influence of bearing clearance, it may cause 37 ~ 6 return error, and has no self-locking function

harmonic gear reducer

2, RV Reducer

rv reducer is composed of a front stage of planetary gear reducer and a rear stage of cycloidal pinwheel reducer. RV transmission is a new kind of transmission, which is developed on the basis of traditional pin pendulum planetary transmission. It not only overcomes the shortcomings of general pin pendulum transmission, but also has a series of advantages, such as small volume, light weight, large transmission ratio range, long service life, stable accuracy, high efficiency, stable transmission and so on

The RV Reducer has superior performance: ① the transmission parts in the cycloid pin gear planetary reducer have high rigidity and low contact stress, and the parts processing is carefully analyzed, understood and installed, and the accuracy is easy to achieve high accuracy, which makes the cycloid pin gear transmission efficiency very high; ② The combination of planetary transmission structure and compact W output mechanism makes the structure of the cycloid pinwheel reducer very compact, so its structure is small and light; ③ With one tooth difference or few tooth difference transmission, the transmission ratio of cycloid needle wheel transmission depends on the number of teeth of cycloid needle wheel. The more the number of teeth, the greater the transmission ratio; ④ The number of teeth meshed simultaneously by cycloid pin gear transmission is more than that by involute external gear transmission, so the bearing capacity is larger; ⑤ The teeth of cycloid gear and needle gear are hardened and finely ground, which has better machining performance, higher tooth surface hardness and longer service life than the internal gear in involute transmission with small tooth difference

RV Reducer

some enterprises of industrial robot reducer

ontology manufacturers in the middle reaches of the industrial chain

robot ontology manufacturers mainly produce robot ontology, and are responsible for the production of key robot parts, control algorithms, development environment design, etc

major international players of industrial robots

the gap between China's industrial robots and Europe, America and Japan is still obvious. At present, the four families of industrial robots (abb, KUKA, FANUC and Yaskawa) are the world's major industrial robot suppliers, accounting for about 50% of the global market share. It accounts for 60% of the Chinese market, while domestic independent brands account for less than 10%

other world-famous industrial robot enterprises include Kawasaki heavy industry company, Epson Epson robot company, Staubli stobil robot, nachifujikoshi Nazhi robot, Comau KOMA robot company, adept adep robot company and China's Xinsong robot company

industrial status of industrial robots

since 2013, China has become the world's largest industrial robot market for four consecutive years. According to the report of the International Federation of robotics IFR, in 2016, the sales volume of industrial robots in China was 90000, an increase of 31% year-on-year, accounting for about 1/3 of the global sales volume. At present, Chinese robot manufacturers are expanding their share in the domestic market. From 2018 to 2020, the annual sales volume of Chinese robots is expected to increase by an average of 15% to 20% annually

according to statistics, in 2017, China's industrial robot production

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