0, preface
Chery Automobile Co., Ltd. is one of the largest independent brand car manufacturers in China. At present, Chery has an annual production capacity of 900,000 vehicles, 650,000 engines and 400,000 gearboxes. As the scale of production continues to expand, the demand for automated production lines is also increasing, and the number of industrial robots is increasing. In order to reduce production costs, Chery Automobile has independently developed industrial robots since 2007 and has completed the development of third-generation robots based on the B&R industrial automation system.
Industrial robots mainly consist of three parts: mechanical system, control system and system software.
1. Mechanical system
1.1 The composition of the mechanical system
The robot mechanical system is mainly composed of a mechanical body and a peripheral structure, as shown in Fig. 1. The mechanical body is mainly composed of a base portion, a balance cylinder portion, a boom, an arm portion, and a wrist portion. The peripheral structure is mainly composed of a pipeline package and some pipe cards.
Figure 1 Robot mechanical system composition
1.2 Robot performance parameters
The third-generation robot based on the B&R system is a large-load industrial robot independently developed by Chery Automobile Co., Ltd., model QB-165, with a maximum load of 165 kg and six degrees of freedom. The robot is also one of the most advanced large-load industrial robots independently researched and developed in China. The performance parameters have reached the international advanced level. The specific parameters are shown in Table 1.
Table 1 Robot Performance Parameter Table
2, control system
The overall overall architecture is shown in Figure 2.
The control system selected B&R mobile panel as the teach pendant. The system also includes APC820 industrial computer, ACOPOSmulti servo drive and motor. The main components and performance of the system are described as follows:
Figure 2 Robot system architecture based on B&R system
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