Manipulator can imitate manual operation, safe and reliable
Manipulator is a kind of automatic operating device that can imitate some action functions of human hands and arms to grasp,carry objects or operate tools according to fixed procedures.The feature is that it can complete various expected tasks through programming,and has the advantages of both human and mechanical handsets in structure and performance.
Hydraulic manipulator is a new type of device developed in the process of mechanized production.It is an automatic device with the functions of grasping and moving.Manipulators can replace humans to repeat boring dangerous work,improve labor productivity and reduce labor intensity.
The actuating mechanism of the manipulator is divided into hand,arm and trunk;
1.Hand
The hand is mounted at the front of the arm.The inner hole of the arm is equipped with a transmission shaft,which can transfer the use to the wrist to rotate,stretch the wrist,and open and close the fingers.
The structure of the robot hand is modeled on the human finger,which is divided into three types:non joint,fixed joint and free joint.The number of fingers can be divided into two fingers,three fingers and four fingers,among which two fingers are used more frequently.According to the shape and size of the clamping object,a variety of shapes and sizes of chucks can be equipped to meet the needs of operation.The so-called hands without fingers generally refer to vacuum suction cups or magnetic suction cups.
2.Arm
The function of the arm is to guide the fingers to accurately grasp the workpiece and transport it to the required position.In order to enable the manipulator to work correctly,the three degrees of freedom of the arm are
Positioning of important places.
3.Torso
The torso is a bracket for installing arms,power sources and various actuators
Mechanical drive is only used for fixed action occasions.Generally,the cam linkage mechanism is used to achieve the specified action.It is characterized by reliable action,high working speed and low cost,but it is not easy to adjust.Others also use hybrid drive,that is,liquid gas or electric liquid hybrid drive.
The control system can be designed to adopt digital sequence control according to the action requirements.It needs to prepare a program for storage,and then according to the specified program,the storage mode of controlling the manipulator to carry out the working program includes separate storage and centralized storage.Separate storage is to store the information of various control factors in two or more storage devices respectively,such as the sequence information is stored in the latch plate,cam drum and perforated belt;Position information is stored in time relay,constant speed rotary drum,etc;Centralized storage is to store all the information of various control factors in a storage device,such as tape,magnetic drum,etc.This method is used for simultaneous control of sequence,position,time,speed,etc.,that is,continuous control.
