Article catalogue:
- 1 、The function of manipulator
- 2 、What types of manipulators can be divided into? Is there any recommendation?
- 3 、What are the composition and functions of industrial manipulators?
The function of manipulator
Manipulator
Mechanical hand
An automatic operating device that can imitate some movement functions of hands and arms and is used to grab and carry objects or operating tools according to fixed procedures. It can replace the heavy labor of people to realize the mechanization and automation of production, and can operate in harmful environment to protect personal safety, so it is widely used in mechanical manufacturing, metallurgy, electronics, light industry, atomic energy and other departments.
The manipulator is mainly composed of hands and movement mechanism. 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. The movement mechanism enables the hand to complete all kinds of rotation (swing), movement or compound movement to achieve the prescribed action and change the position and posture of the grasped object. The independent movement modes of the motion mechanism, such as lifting, expansion, rotation and so on, are called the degrees of freedom of the manipulator. In order to grasp objects in any position and orientation in space, it needs 6 degrees of freedom. The degree of freedom is the key parameter designed by the manipulator. The more freedom, the greater the flexibility of the manipulator, the wider the versatility, and the more complex its structure. The general special manipulator has 2-3 degrees of freedom.
The types of manipulators can be divided into hydraulic, pneumatic, electric and mechanical manipulators according to the driving mode, and can be divided into special manipulators and general manipulators according to the scope of application. according to the motion trajectory control mode can be divided into point control and continuous trajectory control manipulator and so on.
Manipulators are usually used as additional devices for machine tools or other machines, such as loading, unloading and transferring workpieces on automatic machine tools or automatic production lines, changing tools in machining centers, etc., generally there is no independent control device. Some operating devices need to be directly operated by people, such as the master-slave manipulator used in the atomic energy department to handle dangerous goods, which is often called a manipulator.
What types of manipulators can be divided into? Is there any recommendation?
The main types of manipulators are as follows:
1. Oil field drill string operation manipulator: mainly used for the loading and unloading of drill pipes and drill collars when drilling. There are two manipulator designs, one is located at about 2 meters next to the wellhead of the first floor, referred to as the underhand, and the other is located on the central platform on the second floor, referred to as the master.
Second, flexible cable manipulator: with full-stroke “floating” function, the lifting displacement is smaller than the pneumatic balance crane, the maximum is only 3000mm, and the maximum load is only 450Kg. Equipped with gas storage tank, you can continue to use a cycle when the gas is cut off, and the operator will be alerted at the same time. With all kinds of non-standard fixtures, the flexible cable-type power-assisted manipulator can lift workpieces of various shapes. The installation form can be fixed on the ground or suspended, and the guide rail type can not be used.
Third, hard arm booster manipulator: in the case of torque generation, pneumatic balance crane or soft cable booster manipulator cannot be used, but hard arm booster manipulator must be selected. The workpiece with the maximum 500Kg can be raised, the maximum radius can reach 3000mm, and the maximum height 2500mm can be raised. Converse solution
4. Multi-joint manipulator: flexible action, small motion inertia, strong versatility, can grasp the workpiece close to the machine base, and can work around the obstacles between the body and the working machinery, with the needs of production, the flexibility of the multi-joint arm, positioning accuracy and working space put forward higher and higher requirements.
Fifth, T-type power-assisted manipulator: the front and back displacement is realized by the guide rail, which is more suitable for the situation where the operating space is narrow. Equipped with gas storage tank, you can continue to use a cycle when the gas is cut off, and start the self-locking function to prevent the workpiece from falling when the air pressure drops to a certain extent. It is also equipped with a safety system so that the operator cannot release the workpiece during handling or when the workpiece is not placed on the safe surface. Hope to adopt it.
What are the composition and functions of industrial manipulators?
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. The movement mechanism enables the hand to complete all kinds of rotation (swing), movement or compound movement to achieve the prescribed action and change the position and posture of the grasped object. The independent movement modes of the motion mechanism, such as lifting, expansion, rotation and so on, are called the degrees of freedom of the manipulator. In order to grasp objects in any position and orientation in space, it needs 6 degrees of freedom. The degree of freedom is a key parameter in the design of manipulator. The more degrees of freedom, the greater the flexibility of the manipulator, the wider the versatility, and the more complex its structure. The general special manipulator has 2-3 degrees of freedom. The control system completes the specific action by controlling the motor of each degree of freedom of the manipulator. At the same time, the feedback information of the sensor is received to form a stable closed-loop control. The core of the control system is usually composed of single-chip microcomputer or dsp and other micro-control chips, through its programming to achieve the desired functions.
This is the end of the introduction of the grab manipulator and the design of the grab manipulator. 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.