Article catalogue:
- 1 、Seek the simple working principle of pneumatic manipulator
- 2 、What are the design points of the special manipulator for injection molding machine?
- 3 、How is the control of the manipulator completed?
- 4 、Course Design of manipulator Control
- 5 、PLC control system of manipulator
Seek the simple working principle of pneumatic manipulator
The pneumatic manipulator is mainly composed of actuator, drive system, control system and position detection device. Under the condition of PLC program control, the pneumatic transmission mode is adopted to realize the required movement of the corresponding parts of the actuator, including sequence, motion trajectory, and certain speed and time. At the same time, instructions are issued to the actuator according to the information of the control system.
The action of the pneumatic manipulator can be monitored if necessary, and an alarm signal will be issued when there is an error or failure in the action. The position detection device feeds back the actual position of the actuator to the control system at any time, compares it with the set position, and then adjusts it through the control system, so that the actuator can reach the set position with a certain precision.
Extended data:
The compressed air used in the pneumatic transmission of the manipulator often contains moisture, and its direct use will affect the work of the cylinder and corrode the workpiece. Therefore, it is necessary to set up a water separation device to separate the moisture from the compressed air. Generally, when selecting compressed air lower than 6kg/c, it is necessary to use a pressure reducing valve to control the gas pressure and use an accumulator to store enough gas to ensure that when the cylinder consumes gas, the pressure will not be reduced.
As the air pressure is low, the speed of the manipulator slows down and the action is maladjusted, so it is necessary to install a pressure relay on the air path. When the air pressure is lower than the prescribed pressure, the circuit is disconnected and stops working.
Source: Baidu Encyclopedia-Pneumatic manipulator
What are the design points of the special manipulator for injection molding machine?
According to the different motion forms of the injection molding machine manipulator, it can be divided into Cartesian coordinate type, cylindrical coordinate type, spherical coordinate type and joint type. The movements of the manipulator can be divided into main and auxiliary movements. The action of the robotic arm and post is called the main action because it can change the position of the grasped workpiece in space. The action of the mechanical wrist and finger is called auxiliary action, because the action of the wrist can only change the orientation of the grasped finished product, and the opening and closing of the finger can not change the position and orientation of the workpiece, so it is not counted as the number of degrees of freedom. other movements can be counted as degrees of freedom.
The manipulator of the injection molding machine needs to realize the material transfer between the two workstations, and the arm has rotation, lifting and telescopic motion, so the cylindrical coordinate is adopted, and the corresponding manipulator has three degrees of freedom. that is, rotary degrees of freedom (forward and reverse), lifting degrees of freedom (rising and falling) and telescopic degrees of freedom (protruding and retracting). Because the captured item is grasped horizontally and then placed horizontally, there is no need to change the posture of the finished product in the process of handling, so the module of the mechanical wrist can be omitted. According to the shape of the workpiece (cylindrical workpiece), the clamping part uses two-finger claws with an opening and closing movement (clamping and relaxing).
The mechanical system of the manipulator consists of an actuator and a drive system. The manipulator of the injection molding machine operates on small workpieces and requires less driving force. at the same time, the injection mold can realize the self-alignment of the workpiece. in order to simplify the structure of the manipulator and reduce the manufacturing cost, all degrees of freedom of the manipulator are driven by pneumatic. The driving part includes rotary cylinder, lifting cylinder, telescopic cylinder and opening and closing cylinder.
In the overall structure design, the injection molding machine manipulator not only ensures the realization of the function, but also pursues the simplification of the structure, reduces the cost as much as possible and is convenient for maintenance and maintenance.
How is the control of the manipulator completed?
The manipulator adopts digital control system. The control system can be according to the requirements of the action; the information capacity of the punch card is limited, followed by the cam drum. As for which kind of control element to choose, such as magnetic tape, the control elements of the arrival position manipulator include working sequence, acceleration and deceleration, etc.; centralized storage is to store all the information of various control factors in a storage device, action time, reusable, magnetic drum, etc. This method is used in sequence, but if an error occurs, it should be completely replaced and move at a speed.
1. Manipulator is a kind of automatic operation device which can imitate some movement functions of hands and arms and is used to grasp and carry objects or operating tools according to fixed procedures. The characteristic is that all kinds of expected tasks can be completed by programming, and the structure and performance have the advantages of both human and robotic machines.
two。 Manipulator is not only the earliest industrial robot, but also the earliest modern robot, it can replace the heavy labor of human to realize the mechanization and automation of production, and can operate in harmful environment to protect personal safety. therefore, it is widely used in machinery manufacturing, metallurgy, electronics, light industry, atomic energy and other departments.
3. In today’s life, with the rapid development of science and technology, the biggest difference between robotic arms and human arms lies in flexibility and endurance. That is, the greatest advantage of the manipulator can be repeated to do the same action under normal mechanical conditions will never feel tired! The application of mechanical arm will be more and more widespread. Manipulator is a kind of high-tech automatic production equipment developed in recent decades, which has the accuracy of operation and the ability to complete work in the environment. An important branch of industrial manipulator robot.
4. The manipulator is mainly composed of executive mechanism, driving mechanism and control system. The hand is a part used to hold the workpiece (or tool). It has a variety of structural forms according to the shape, size, weight, material and operation requirements of the grasped object, such as clamping type, holding type, adsorption type and so on.
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PLC control system of manipulator
Do you think this is all right? if I can, I will send you the program.
2. Manipulator control
(1) Control scheme and design flow
1) Design process:
First of all, the process of moving the workpiece from A to B by the manipulator is a sequential process. Therefore, the sequential structure can be adopted. However, there are always 5 fast workpieces at A, so the position that the manipulator needs to descend is different each time during handling. To solve this problem, you can use the proximity switch SQ1 to count the signal of the SQ1, because only one signal is generated when the SQ1 passes through a detection block. So as long as you set a counter for the signal generated by SQ1 and read the value of the counter, you can control the position where the manipulator drops when moving different workpieces. There are two main points to control the falling position of the manipulator, one is the falling position when absorbing the workpiece, and the other is the falling position when the workpiece is laid off after turning 180 °clockwise. From 1-5 pieces of artifacts, the two positions that need to be dropped are determined, that is, the value of the SQ1 counter is determined at that time. So it is conceivable that it is easy to control the falling position of the manipulator by storing these specific values in a data register and reading a part of the data as the comparison cardinality each time.
(2) Design scheme:
First of all, the start and stop buttons SB1 and SB2 are set for the system. The start of SB1 control system and the stop of SB2 control system. For SQ1, SQ2, SQ3, SQ4 and SQ5 are connected with X10, X11, X12, X13 and X14 of the input terminal respectively. There are several outputs of the system: YA0, YA1, YA2, YA3, YA4, M1, which are controlled by Y0, Y1, Y2, Y3, Y4, Y5, respectively. The system also sets up two counters C1 and C2. C1 counts the SQ1, thus realizing the control of the falling position of the manipulator. C2 counts SQ3, due to the implementation of the statistics of the artifacts that have been moved.
At the beginning of the system, the control words are written into the continuous data storage unit D20 to D29, and an index register Z0 is set to realize the sequential reading of the data. Whenever you finish moving a piece of work, Z0 plus 2. The following picture shows the corresponding table between the control word and the data storage unit.
Storage unit D20 D21 D22 D23 D24 D25 D26 D27 D28 D29
Control word (D) 1 7 14 21 29 37 46 55 65 75
(2) Imax O connection graph
This is the end of the introduction of the manipulator control system design and the task book of manipulator control system design. I wonder if you have found the information you need? If you want to know more about this, remember to collect and follow this site.