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The automatic loading and unloading manipulator is an automatic operation device that can imitate some action functions of human hands and arms to grab, transport objects or operate tools according to a fixed program. The characteristic is that it can complete various expected operations through programming. It has the advantages of both human and mechanical machines in terms of structure and performance. It 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, so it is widely used in machinery manufacturing, metallurgy, electronics, light industry and atomic energy and other departments.

The degree of freedom is a key parameter in the design of the loading and unloading robot. The more degrees of freedom, the greater the flexibility of the automatic loading and unloading manipulator, the wider the versatility, and the more complex its structure. Generally, the special automatic loading and unloading manipulator has 2 to 3 degrees of freedom. The control system completes specific actions by controlling the motor of each degree of freedom of the automatic loading and unloading manipulator. At the same time, the feedback information from the sensor is received to form a stable closed-loop control. The core of the control system is usually composed of micro-control chips such as single-chip microcomputer or dsp, and the desired functions are realized by programming it.

1. The actuators of the automatic loading and unloading manipulator are divided into hands, arms and torso

1. The hand is installed on the front end of the arm

The inner hole of the arm is equipped with a transmission shaft, which can transmit the application to the wrist to rotate, stretch the wrist, and open and close the fingers. The structure of the hand of the automatic loading and unloading manipulator imitates human fingers, and it is divided into three types: jointless, fixed joint and free joint. The number of fingers can be divided into two fingers, three fingers, four fingers, etc., of which two fingers are used the most. Chucks of various shapes and sizes can be equipped according to the shape and size of the object to be clamped to suit the needs of the operation. The so-called hands without fingers generally refer to vacuum suction cups or magnetic suction cups.

2. The function of the arm is to guide the fingers to accurately grasp the workpiece and transport it to the desired position. In order for the automatic loading and unloading manipulator to work correctly, the three degrees of freedom of the arm must be precisely positioned.

3. Torso The torso is the bracket for installing the arm, power source and various actuators.

2. There are four main driving mechanisms used by the automatic loading and unloading manipulator: hydraulic drive, pneumatic drive, electrical drive and mechanical drive

1. Hydraulic-driven automatic loading and unloading manipulators usually consist of hydraulic motors (various oil cylinders, oil motors), servo valves, oil pumps, oil tanks, etc. to form a driving system, which is driven by the actuating mechanism of the loading and unloading manipulators.

Usually it has a large snatch capacity (up to several hundred kilograms or more), which is characterized by compact structure, smooth action, impact resistance, vibration resistance, and good explosion-proof performance, but the hydraulic components require high manufacturing precision and sealing performance. Otherwise oil leakage will pollute the environment.

2. The pneumatic drive system is usually composed of cylinder, air valve, air tank and air compressor. It is characterized by convenient air source, quick action, simple structure, low cost and easy maintenance.

However, it is difficult to control the speed, and the air pressure should not be too high, so the snatch ability is low.

3. Electric drive is the most widely used driving method for automatic loading and unloading manipulators.

It is characterized by convenient power supply, fast response, large driving force (the weight of the joint type has reached 400kg), convenient signal detection, transmission and processing, and can adopt a variety of flexible control schemes.

The drive motor generally adopts stepper motor, and DC servo motor (AC) is the main driving method. Due to the high speed of the motor, a reduction mechanism (such as harmonic drive, RV cycloidal pinwheel drive, gear drive, screw drive and multi-bar mechanism, etc.) is usually used.

Some automatic loading and unloading robots have begun to use high-torque, low-speed motors without reduction mechanisms for direct drive (DD), which can not only simplify the mechanism, but also improve the control accuracy.

4. The mechanical drive is only used for the occasions where the action is fixed.

Generally, a cam link mechanism is used to realize the prescribed action. It is characterized by reliable action, high working speed and low cost, but it is not easy to adjust. Others also use hybrid drives, that is, liquid-gas or electric-hydraulic hybrid drives.

3. The elements of automatic loading and unloading manipulator control include work order, arrival position, action time, movement speed, acceleration and deceleration, etc.

The control of the automatic loading and unloading manipulator is divided into two types: point control and continuous trajectory control. The control system can be designed to use digital sequential control according to the requirements of the action. It first needs to compile a program and store it, and then according to the specified program, control the automatic loading and unloading manipulator to carry out the working program. There are two kinds of storage methods: separate storage and centralized storage. Separate storage is to store the information of various control factors in two or more storage devices, such as the sequence information is stored in the latch plate, the cam drum, and the perforated belt; the position information is stored in the time relay, fixed-speed rotary drum, etc.; Centralized storage is to store all the information of various control factors in one storage device, such as magnetic tape, magnetic drum, etc. This method is suitable for occasions where sequence, position, time, speed, etc. must be controlled at the same time, that is, continuous control.

Among them, the pin board is used in the occasions where the program needs to be changed quickly. To change a program, only one kind of plug board can be replaced, and the same plug-in can be used repeatedly; The length of the program accommodated by the punched tape can be unlimited, but if an error occurs, it must be replaced; The information capacity of the punched card is limited, But it is easy to replace, save, and can be reused; the magnetic core and the magnetic drum are only suitable for occasions with large storage capacity. As for which control element to choose, it is determined according to the complex program and precise program of the action. For the automatic loading and unloading manipulator with complex movements, a teaching and reproducing control system is adopted. More complex automatic loading and unloading manipulators use digital control systems, small computers or microprocessor-controlled systems. The control system uses the latch plate the most, followed by the cam drum. It is equipped with many cams, each cam is assigned to a motion axis, and a cycle is completed by one rotation of the drum.

Fourth, the automatic loading and unloading manipulator can save workers, improve efficiency, improve product quality, good safety, and enhance the image of the factory

The advantages of the multi-joint automatic loading and unloading manipulator are: flexible action, small motion inertia, strong versatility, can grab workpieces close to the machine base, and can work around obstacles between the body and the working machine. More and more requirements are put forward on the flexibility, positioning accuracy and working space of the multi-joint arm. The multi-joint arm also breaks through the traditional concept. The number of joints can range from three to a dozen or more, and its shape is not limited to the human arm, but it varies according to different occasions. The performance is unmatched by single-joint manipulators