Semi-automatic pouring manipulator
Semi-automatic pouring manipulator is a kind of replacement manual, grasping the object of machinery, high freedom, has been welcomed in many places.
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 microcontroller or DSP and other microcontrol chips, through its programming to achieve the desired function.
The executive 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 drive shaft, which can be transferred to the wrist to rotate, extend the wrist, open and close the fingers.
The structure of the manipulator hand mimics human fingers and is divided into three kinds: unjointed, fixed and free joints. The number of fingers can be divided into two fingers, three fingers, four fingers, etc., with two fingers used more. According to the shape and size of the clamping object can be equipped with a variety of shapes and sizes of the chuck to meet the needs of the operation. The so-called fingerless hand, generally refers to the vacuum or magnetic suction cup.
2, arm
The role of the arm is to guide the fingers to accurately grasp the workpiece and transport it to the desired position. In order to make the manipulator work correctly, all three degrees of freedom of the arm should be positioned.
3, trunk trunk is the installation of arms, power sources and various actuators of the support
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.
Mechanical drive is only used when the action is fixed. Generally, the CAM connecting rod mechanism is used to achieve the prescribed action. Its characteristics are reliable action, high working speed, low cost, but not easy to adjust. Others use hybrid drive, that is, liquid-gas or electric-liquid hybrid drive.
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.
