Casting and pouring manipulator
The casting and pouring manipulator has high degrees of freedom and good flexibility, which is suitable for the work of various complex conditions of enterprises.
In order to grasp the object at any position and orientation in space, 6 degrees of freedom are required. The degree of freedom is the key parameter of manipulator design. The more degrees of freedom, the greater the flexibility of the manipulator, the wider the versatility, the more complex the structure. General manipulator has 2 ~ 3 degrees of freedom. The control system is through the control of the motor of each degree of freedom of the manipulator, to complete the specific action. At the same time, the sensor feedback information is received to form a stable closed-loop control. The core of the control system is usually composed of micro control chip, through its programming to achieve the desired function.
The driving system is usually composed of cylinders, air valves, gas tanks and air compressors. It is characterized by convenient air source, rapid action, simple structure, low cost and convenient maintenance. But it is difficult to control the speed, the air pressure can not be too high, so the snatch ability is low.
The control system can be designed according to the requirements of the action, using digital sequence control. It should be programmed to be stored, and then according to the prescribed program, the storage mode of the control manipulator for the work program has two kinds of separate storage and centralized storage. Separate storage is to store the information of various control factors in two or more storage devices, such as sequence information stored in the bolt board, CAM drum, perforation belt; The position information is stored in time relay, fixed 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 in order, position, time, speed and other simultaneous control occasions, that is, the use of continuous control.
The elements of manipulator control include working sequence, arriving position, action time, movement speed, adding and subtracting speed and so on. The control of manipulator is divided into point control and continuous trajectory control.
Where the latch board is used in the need for rapid change of procedures. Change a program only need to switch a pin plate limit, and the same plug-in can be used repeatedly; There is no limit to the length of the program that the perforated tape can hold, but it should be replaced in case of error. The information capacity of punch card is limited, but it is easy to change, save and reuse. Magnetic core and drum are only suitable for large storage capacity occasions. As for which control element to choose, it is determined according to the complex procedures and procedures of the action. For the manipulator with complex movements, the teaching-seeking and reproducing control system is adopted. More complex manipulators use digital control systems, minicomputers or microprocessor-controlled systems. Control system to latch board with more, followed by the CAM drum. It is equipped with a number of cams, each CAM assigned to a movement axis, the drum movement one week to complete a cycle.
