Article catalogue:
- 1 、What are the main types of manipulators?
- 2 、What kind of motor does the robotic arm use?
- 3 、What is the control of the robotic arm?
- 4 、Witty 3 what is the principle of the manipulator?
- 5 、Operation steps of manipulator for injection molding machine
What are the main types of manipulators?
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. 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.
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. The application of manipulator in forging industry can further develop the production capacity of forging equipment and improve working conditions such as heat and tiredness.
What kind of motor does the robotic arm use?
The manipulator is controlled by a servo motor.
The handling manipulator adopts PLC+ touch screen + servo motor control, frame structure, less space, large production capacity, palletizing method can be taught to program, computer can store 100 palletizing programs, all using domestic and foreign well-known brand components, suitable for electronic, food, beverage, tobacco and other industries of carton packaging products and heat shrinkable film products palletizing and palletizing.
Types and functions of manipulators:
According to the driving mode, the manipulator can be divided into hydraulic, pneumatic, electric and mechanical manipulators; according to the scope of application, it can be divided into special manipulators and ordinary manipulators; according to the motion trajectory control mode, it can be divided into point control and continuous trajectory control.
Manipulators are usually used as additional equipment for machine tools or other machines, such as automatic machine tools or automatic production lines to load, unload and deliver workpieces, instead of cutting tools in the machining center, there is generally no independent control device. Some operating equipment requires manual direct control, such as the master and slave operators used by the atomic energy department to deal with hazardous substances, also known as manipulators.
The application of manipulator in forging industry can further develop the production capacity of forging equipment and improve working conditions such as heat and fatigue. The manipulator was first invented in the United States. In 1958, the American Control Company developed the first manipulator.
Above reference: Baidu encyclopedia-manipulator
The above reference: Baidu encyclopedia-handling manipulator
What is the control of the robotic arm?
The control system of manipulator is improved with the development of manipulator (robot). Manipulator is developed on the basis of the early emergence of ancient robots, manipulator research began in the middle of the 20th century, with the development of computer and automation technology, especially since the advent of the first digital electronic computer in 1946, computers have made amazing progress, developing in the direction of high speed, large capacity and low price. At the same time, the urgent demand of mass production promotes the development of automation technology, and lays a foundation for the development of robot and manipulator control system. On the other hand, the research of nuclear energy technology requires some operating machines to deal with radioactive materials instead of human beings. Under the background of this demand, the United States developed remote control manipulator control system and remote control manipulator in 1947, and mechanical master-slave manipulator control system and manipulator in 1948.
System introduction
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Development history of manipulator control system
The manipulator control system was first developed in the United States. In 1954, Dewall of the United States first put forward the concept of industrial robot and applied for a patent. The main point of the patent is to control the joints of the robot with the help of servo technology, teach the robot by hand, and the robot can record and reproduce the action. This is the so-called teaching and reproduction robot control system. Almost all the existing robot control systems adopt this control mode. In 1958, the United Control Company of the United States developed the first manipulator riveting robot control system. As the earliest practical model of robot products (teaching reproduction), it is “VERSTRAN” launched by American AMF company in 1962 and “UNIMATE” launched by UNIMATION company. These industrial robots and related control systems are mainly composed of similar human hands and arms, which can replace the heavy labor of human beings to realize the mechanization and automation of production, and can operate in harmful environments to protect personal safety. therefore, it is widely used in machinery manufacturing, metallurgy, electronics, light industry and atomic energy and other departments.
The manipulator control system has gone through the following stages: the era when the manipulator completed the transfer of radioactive sources, the era of stacking manipulators for chemical products, and the era of the rise and development of industrial manipulators.
With the development of automobile industry and plastic industry, regional manipulators and their control systems in Western Europe, Japan, Soviet Union and China are also in full bloom.
In particular, the injection molding machine manipulator, the development is more rapid, the application is very common, its control system after decades of development, has become mature and perfect.
The genre and brand of manipulator control system (plastic)
Injection molding machine manipulator school control system can be divided into Europe and America, Japan and China according to region. Europe, the United States and Japan developed earlier and the technology is relatively perfect. At first, the domestic manipulator control system was mainly introduced from abroad, but the development, research and production in this area in China has developed by leaps and bounds in the past 10 or 20 years. Now the domestic manipulator control system has gradually matured, and the domestic price is relatively low. In China, there are Taiwan Skywalker, mainland Huacheng Industrial Control, European Sigma Tek, KEBA, Japanese Star Machine and Hammer.
The types of manipulator control systems are classified according to different hardware, mainly inclined arm, horizontal walking, according to the driving mode can be divided into pneumatic, frequency conversion, servo. There are several races in each category, and different races vary according to different action procedures.
The oblique arm manipulator control system is used in the injection molding machine below 500T, there are 20 or 30 sets of action procedures, the highest distance accuracy can reach 0.05mm, the crosswalk manipulator control system has 40 to 50 sets of injection molding procedures in 1600T, and the highest distance accuracy can reach 0.05mm, while the super-large injection molding machine needs to be equipped with a special control system.
Witty 3 what is the principle of the manipulator?
A manipulator is a robotic arm that is usually programmable and has a similar function to a human arm, which can be the sum of mechanisms or part of a more complex robot. The manipulator is connected through joints, allowing rotational motion (such as in an articulated robot) or translational (linear) displacement. In fact, the working principle of articulated robots is very similar to the motion characteristics of human arms. It is through the combined movements of joints, bones and muscles that human hands follow the command of the brain and have conditioned reflexes. The articulated robot is based on this human characteristic, and then through the “crystallization” of human wisdom.
The working principle of linear manipulator or truss manipulator
Diagram of the working principle of the manipulator:
A mechanical arm is a machine that imitates the action of a human arm, and it can also be suspended on a truss. This kind of manipulator is called a truss manipulator. It consists of a number of beams and manipulator assemblies. One end of the manipulator is suspended on the transverse module, while the other end has wrists and fingers. The wrist can rotate with multiple degrees of freedom, fingers can clip objects, and they can be directly or remotely controlled by human beings. However, the truss manipulator is only one of a variety of robotic arms.
The manipulator is a three-axis truss manipulator driven by a servo motor. If you simply explain the meaning of the three-axis, it can be simply understood that the manipulator is composed of three servo motors. It is obvious that there are two servo motors in the picture, and one servo motor is the part of the mechanical arm that controls the movement back and forth, which is behind the whole manipulator, so it can not be seen in the picture.
Then let’s explain the function of the other two servo motors. The servo motor above the transverse arm controls the overall lateral movement of the longitudinal and transverse mechanical arms on the transverse arm and can be accurately positioned at any position on the transverse arm. The servo motor on the longitudinal arm naturally controls the up and down movement of the longitudinal arm, and it is also the combination of the key mechanical arm to grab the material and the servo motor that needs to be the most accurate.
Robotic arms can be as simple as tweezers or as complex as prosthetics. In other words, if a mechanism can grasp an object, grasp an object and transfer it like an arm, then it can be classified as a manipulator. Recent advances have led to future improvements in the field of medicine, including prosthetics and robotic arms. When mechanical engineers build complex robotic arms, the goal is to enable them to accomplish tasks that ordinary humans cannot accomplish.
Operation steps of manipulator for injection molding machine
Make sure that the power supply and air pressure source and other power sources are properly connected, and check the pressure of the manipulator air regulator to 0.4mpa-0.6mpa.
Turn on the power of the manipulator and return to the origin of the manipulator.
Set the action modes of the manipulator (choose according to the needs of the specific product).
Input the standby position and clamping position of the manipulator according to the labeling parameters on the manipulator fixture.
Set the opening stroke of the injection molding machine according to the parameters on the label.
Check whether the fixture screw is loose, whether the clamp clip is damaged, whether the cylinder expansion is normal, whether the air leakage, whether the sucker is intact, whether the hardware is stuck and other bad phenomena.
After the fixture is installed with OK, observe whether all the fixtures are on the same vertical surface, if not, adjust the blocking screw on the connection fast so that the fixture is on the same vertical surface.
Semi-automatic fine-tuning clip position, adjust the OK, save the parameters.
Then set the position of the manipulator in turn, the open position on the way, the open position of the product and so on.
Enter the manipulator timer module and initially set each action time. The ejection delay (2s) and backward delay (5s) of the ejector pin of the injection molding machine are preliminarily set.
Carry out the fully automatic operation of the injection molding machine and manipulator.
In the first fully automatic state, in order to make the best cooperation between the manipulator and the injection molding machine, please carefully observe the operation of the two equipment in the fully automatic state. then fine-tune the time of the manipulator and the time of the injection molding machine (thimble ejection delay, thimble backward delay, intermediate cycle time, etc.), so that the manipulator can achieve the most rapid and stable action response.
After the adjustment, the fully automatic production is carried out. Do not leave until you observe 20 modes or more than half an hour and there is no fault alarm.
Classification:
Basic injection molding manipulator, this type of manipulator generally includes fixed mode program and teaching mode program according to the requirements of production process. The fixed mode program covers several standard processes of injection molding production, using industrial controllers to do simple, regular and repetitive actions. The teaching mode program is specially designed for the special injection molding machine of the production process, through the orderly and safe arrangement of the basic movements to achieve the goal of successful extraction.
Intelligent injection molding manipulator, this type of manipulator generally includes multi-point memory placement, arbitrary standby, more degrees of freedom and other functions, generally using servo drive, can maximize humanoid to perform more complex operations. it can also be equipped with advanced sensors to make it have visual, tactile and thermal functions, making it a highly intelligent injection molding robot.
According to other classifications, they are as follows:
The driving mode is divided into pneumatic, frequency conversion and servo.
According to the mechanical structure, it can be divided into rotary type, horizontal type and side type.
According to the structure of the arm, it is divided into single section and double section.
According to the number of arms, it is divided into one arm and two arms.
According to the X-axis structure, it can be divided into hanging arm type and frame type.
According to the number of axes, it is divided into single axis, two axes, three axes, four axes, five axes and so on.
According to the different control procedures, it is divided into several sets of fixed programs and self-editable programs.
The size of the device can be distinguished by the movement of the arm, which is generally increased by 100MM.
This is the end of the introduction of manipulators and manipulator pictures. Have you found the information you need? If you want to know more about this, remember to collect and follow this site.