Application of Manipulators in Industrial Production
The industrial manipulator is an automatic device that imitates the action of human hand and realizes automatic grasping,handling and operation according to the given program.It is generally composed of an actuator,a driving mechanism,a control system,a detection device,etc.The intelligent manipulator also has a sense system and an intelligent system.
Parameters of industrial manipulator:
(1)Grasping weight(also called arm force):rated gripping weight or rated load,in N(if necessary,indicate the gripping weight under the limited movement speed).(2)Number of degrees of freedom and coordinate form:there are several degrees of freedom in the movement of the body,arm and wrist,and the coordinate form shall be described.
(3)Positioning mode:fixed mechanical stop,adjustable mechanical stop,travel switch,potentiometer and other various position uncertain and detection devices;Number of positions or position information capacity set by each degree of freedom;Point control or continuous trajectory control.
(4)Driving mode:pneumatic,hydraulic,electric or mechanical transmission.
(5)Arm motion parameters:displacement range and speed of telescoping,lifting,traversing,slewing and pitching.(6)Wrist motion parameters:rotation,up and down swing,left and right swing,lateral displacement range and speed.(7)Finger clamping range(nlm)and grip force(i.e.clamping force or suction force)(N).
(8)Positioning accuracy:position setting accuracy and repeated positioning accuracy(±mm).
(9)Programming method and program capacity:such as pin board,diode matrix pin board,one bit computer programmable process control,multi bit computer control,teaching storage,etc.(10)Receive and send signals,and interlock control signals for several days.
(11)Power of control system:electricity and gas.
(12)Drive source:pneumatic pressure;Hydraulic pressure,oil pump specification,motor power;Type and specification of electric motor.(13)Outline dimension:length(mm)×Width(mm)×Height(mm).
(14)Weight:total weight(kg).
Application of manipulator in industrial production:
①Single machine automation:automatic loading and unloading of various semi-automatic machine tools.
②Composition of automatic production line:on the basis of single machine automation,automatic loading and unloading and conveying of workpieces can enable some single machines to be connected into automatic production lines.
③Special working environment:such as high temperature(heat treatment,forging,casting,etc.),toxic and harmful,interstellar exploration,undersea resource development and other environments,use manipulator(or automatic or remote control)to work instead of human.
