manipulator
An automatic operating device that can imitate some action functions of human hands and arms to grab and carry objects or operate tools according to fixed programs. It can replace people's heavy labor, realize mechanization and automation of production, operate in harmful environment and protect personal safety, so it is widely used in machinery manufacturing, metallurgy, electronics, light industry, atomic energy and other industries.
Manipulator is mainly composed of hand and motion mechanism. A hand is a component used to grasp a workpiece (or tool). According to the shape, size, weight, material and operation requirements, there are various structural forms such as clamping, holding and adsorption. The motion mechanism enables the hand to complete all kinds of rotation (swing), movement or compound movement, so as to realize the specified action and change the position and posture of the caught object. The independent motion modes of the motion mechanism, such as lifting, stretching and rotating, are called the degrees of freedom of the manipulator. In order to grasp objects in any position and direction in space, six degrees of freedom are needed. Degree of freedom is the key parameter of manipulator design. The more degrees of freedom, the greater the flexibility and versatility of the manipulator, and the more complicated its structure. Generally, a special manipulator has 2 ~ 3 degrees of freedom.
The types of manipulator can be divided into hydraulic, pneumatic, electric and mechanical manipulator according to the driving mode; According to the scope of application, it can be divided into two types: special manipulator and general manipulator; According to the control mode of motion trajectory, it can be divided into point control and continuous trajectory control manipulator.
Manipulators are usually used as additional devices for machine tools or other machines, such as loading and unloading and transferring workpieces on automatic machine tools or automatic production lines, and changing tools in machining centers. And generally there is no independent control device. Some operating devices need people to operate directly, such as the master-slave manipulator used by the atomic energy department to handle dangerous goods, which is also often called manipulator.
Manipulator is a mechanical automation equipment that replaces human labor to realize production. The integration of manipulator and special equipment can not only implement semi-automatic independently, but also cooperate with special production line to realize full-automatic service. The manipulator connected by the multi-axis sliding table module is used to cooperate with the automatic recovery operation device according to the fixed program with high precision.
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Application characteristics of industrial manipulator
Generally speaking, the manipulator consists of three parts: actuator, drive system, control system and detection device. Intelligent manipulator also has a sensing system and an intelligent system.
Industrial manipulator is a high-tech automatic production equipment developed in recent decades. Industrial manipulator is an important branch of industrial robot. Its characteristic is that it can complete various expected tasks through programming, and it has the advantages of both human and machine in structure and performance, especially reflecting human intelligence and adaptability. The accuracy of manipulator operation and the ability to complete the operation in various environments have broad development prospects in all fields of national economy. In industry, automatic control system has a wide range of applications, such as industrial automation machine tool control, computer systems, robots and so on. Industrial robot is a relatively new electronic equipment, which is beginning to change the face of modern industry. /
The actual robot consists of a main body with a wrist (or arm), tools (usually some types of clamps) at the end of the main body, and an auxiliary power system. This paper is a comprehensive introduction to the whole design work. The universal manipulator technology involves mechanics, mechanics, electro-hydraulic technology, automatic control technology, sensor technology and computer technology. It is an interdisciplinary comprehensive technology.
In industrial automation production, whether it is a single machine, a modular machine tool or an automatic production line, the manipulator is used to complete the picking and placing of workpieces.
The control of the manipulator is mainly position identification, movement direction control and the presence or absence of materials. Its task is to convey the workpieces or articles on conveyor belt A to conveyor belt B. The lifting, moving down, moving left, moving right, grabbing and releasing of the manipulator are all completed by a double-coil three-solenoid valve cylinder. When the solenoid valve is energized, even if the coil is deenergized again, the corresponding action will be maintained until the coil in the opposite direction is energized, and the corresponding action will end. The equipment is equipped with six limit switches for up, down, left, right, grab and release to control the end of corresponding working steps. /
There is a light switch on the conveyor belt to monitor whether the workpiece is in place. Manipulator is an automatic device that imitates the movement of human hands and realizes automatic grasping, handling and operation according to given procedures, trajectories and requirements. Especially in harsh environments such as high temperature, high pressure, dusty, flammable, explosive and radioactive, and in heavy, monotonous and frequent operations, it has been widely used.