This project belongs to the field of advanced manufacturing technology and basic core components.
Servo motors and drives are the core components of industrial robots. They provide power to the robot and are the "heart" of the robot, accounting for about 20% of the cost of the entire industrial robot30%。At present, most domestic autonomous robot manufacturers use imported servo motors and drive products, resulting in technical restrictions on domestic industrial robots and difficulty in competing with similar foreign products in terms of cost. In order to improve the localization capabilities of core components of industrial robots, this project has independently developed servo motors and drives with independent intellectual property rights. It is a major technological breakthrough for high-performance industrial robots, mainly overcoming six key technologies:
(1) Key technologies of high-speed bus control: It is the basis for robot controllers to participate in servo control from a dynamic perspective. This project adopts "Adaptive Technology of High-Speed Ethernet Bus Interface" and "High-precision Synchronization and Compensation between Nodes Based on Ethernet Bus" to improve the precise interpolation control of multi-axis synchronous and precise interpolation control of industrial robots, thereby ensuring the stability and accuracy of robot operation;
(2) Key technologies based on dynamic feed-forward control: independently developed technologies such as "online inertia identification control" and "torque and speed feed-forward control", and cooperated with the robot controller to achieve robot dynamic control, ensuring accurate and stable operation of the robot to avoid the influence of mechanical characteristics on the trajectory during motion;
(3) Key technologies for suppressing robot joint oscillation: Self-developed technologies such as "servo state estimator based on minimum variance estimation theory" and "resonance suppression control" have improved the control accuracy of the servo system at ultra-low speeds and broken through the robot. End jitter during low-speed operation greatly improves the quality of processes such as welding;
(4) Key technologies for human-machine collaborative control: Through the development of technologies such as "Safe Torque Shutdown (STO), Safe Parking (SS), Safe Brake Control (SBC) and Power Off Synchronous Control", it provides a powerful security technical guarantee for human-machine collaboration;
(5) Key technologies for energy-saving control: Through the development of "High Power Density Servo Motor Design Technology" and "Common DC Bus Four-Quadrant Control" technology, the robot's acceleration and braking performance are improved while realizing energy-saving control;
(6) Key technologies for mechanism optimization: Through the development of technologies such as "single cable control" and "modular servo control", the problems of difficult wire wiring and poor interference resistance of the robot body encoder have been broken through, and the reliability and operation of the robot have been greatly improved. efficiency.
During the implementation of the project, new servo motors and drives for high-performance industrial robots were developed, and 4 nationally authorized invention patents, 4 utility models, and 13 invention patents were applied; 11 papers were published; and 1 investment plan project within the central budget was obtained. Project and 1 major research and development project in Shanghai City. Jointly trained 2 doctoral students and 14 master's students with Harbin Institute of Technology, cultivating and delivering a group of technical backbones to the enterprise.
This achievement was reviewed by the expert group and unanimously agreed that the product of this project is creative in terms of principle and design, and it is a technical upgrade in terms of the robot industry needs, overall performance and application adaptability. Li Yibin, leader of the expert group, believes that some technical performance indicators of this project's products are better than similar products at home and abroad, and the technical level has generally reached international advanced and has good industrialization prospects. It is recommended to promote it as soon as possible. At present, scientific research results have been transformed into new products. According to incomplete statistics, since 2013In 2015, more than 2500 six-degree-of-freedom robots have been equipped. The cumulative sales revenue was 71.363 million yuan, new profits were 13.962 million yuan, taxes paid were 12.131 million yuan, and the output value of beneficiary robot hosts exceeded 200 million yuan.
The products of this project have been equipped with six-degree-of-freedom industrial robots since 2013, and have now achieved mass production on industrial robots such as Xinshida, Eft, Zhongweixing, and Starke, breaking the blockade and monopoly of foreign manufacturers and filling the gap in the domestic field. This product is expected to greatly enhance the technical level and market competitiveness of China's industrial robots and other high-end intelligent equipment.