What are the motion trajectories and stroke parameters of the manipulator?

The movement trajectory of the manipulator is a continuous curve of space, which is under control in the whole moving process to achieve smooth and accurate movement, and has a very wide range of use.

Are you referring to the parameters inside the servo?

The control methods of servo motor are roughly divided into three types, position control, speed control, and torque control.

Generally speaking, manipulators require high repeatability of positioning, i.e., high position accuracy. Therefore, the general manufacturer uses the position control method to control the motor. That is, tell the servo controller a position information, and the servo controller itself calculates the speed required for the motor to rotate to this position (including maximum speed, acceleration time, deceleration time, and constant speed time).

So, what are the parameters that the servo controller calculates these times based on?

Position, Mechanical Rigidity, Torque Limit, Speed Limit, etc., and so on.

So, if you have to calculate it yourself, it will be a very troublesome thing, but fortunately, with the function of automatic acceleration and deceleration time, it becomes easier.

However, it should be noted that the selection of automatic acceleration and deceleration time of the servo may adjust the rigidity very low, and the speed of the manipulator to execute the position command will be slow, which may cause the delay of the upper computer instruction.

Related to your control, there is a teach-in control, for example, from point A to point B, I can go through the arc, I can also go straight to the past, I can also pass the curve, and the program has its own algorithm.

1. Definition of manipulator:

It is an automatic production equipment that can imitate part of the functions of the upper limbs of the human body, and can automatically control them to convey products or operate tools according to predetermined requirements. In today's life, with the rapid progress of science and technology, the biggest difference between a robotic arm and a human arm is flexibility and endurance.

Second, the structure of the manipulator is as follows:

The manipulator is mainly composed of three parts: hand, motion mechanism and control system. The hand is a part used to grasp the workpiece (or tool), and there are various structural forms according to the shape, size, weight, material and operation requirements of the object to be grasped, such as clamping type, supporting type and adsorption type. The movement mechanism enables the hand to complete various rotations (swings), movements or compound movements to achieve the specified actions and change the position and posture of the object to be grasped.

The lifting, telescoping, rotation and other independent movement modes of the moving mechanism are called the degrees of freedom of the manipulator.

In order to grasp objects in any position and orientation in space, 6 degrees of freedom are required. Degrees of freedom are key parameters in the design of the robot. The more degrees of freedom, the greater the flexibility of the manipulator, the wider the versatility, and the more complex its structure.

Generally, the special manipulator has 2 or 3 degrees of freedom. The control system is to complete a specific action by controlling the motor of each degree of freedom of the manipulator. At the same time, it receives the information fed back by the sensor to form a stable closed-loop control.

The core of the control system is usually composed of microcontrollers or DSP [originally known as Digital Signal Processing in English, referred to as DSP, Chinese meaning: digital signal processing] and other microcontrol chips, through which the desired function is realized.

Third, the classification of manipulators:

The types of manipulators can be divided into hydraulic, pneumatic, electric, and mechanical manipulators according to the driving mode; According to the scope of application, it can be divided into two types: special manipulator and general manipulator; According to the motion trajectory control mode, it can be divided into point control and continuous trajectory control manipulator.

Manipulators are usually used as an additional device to 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 without independent controls. Some operating devices need to be operated directly by humans, such as the master-slave operator used in the nuclear energy sector to handle dangerous goods, which is also often referred to as a manipulator. The application of manipulator in the forging industry can further develop the production capacity of forging equipment and improve the working conditions such as heat and fatigue.

The manipulator was first developed from the United States. In 1958, the United Control Company of the United States developed the first manipulator.

A manipulator is a multi-functional machine that can be automatically positioned and controlled, and can be reprogrammed to change, it has multiple degrees of freedom, and can be used to move objects to complete work in different environments.

Fujin manipulator actuator, drive-transmission mechanism, control system, intelligent system, remote diagnosis and monitoring system are composed of five parts. The drive-transmission mechanism and the actuator are complementary to each other, and can be divided into: mechanical, electrical, hydraulic and composite in the drive system, among which the hydraulic operating force is the largest.

You can use the program to reach the specified stroke and complete the required actions.

Manipulator is the product we produce to replace labor, all the structure is practical, what needs can be designed, Changlilai manipulator is good.

The use of manipulator can not only improve product quality, but also save labor and improve production efficiency.

1.High level of security. If the injection molding machine fails or the wrong button is pressed to close the mold, there is a danger of pinching the worker's hands, and the manipulator is used to ensure safety.

2.Labor savings. The manipulator takes out the product and places it on the conveyor belt or the undertaking table, and only one person needs to take care of it or one person to watch two or more injection molding machines at the same time, which can save labor and make an automatic assembly line to save the factory space, so the whole plant is planned to be smaller, more compact and exquisite.

3.Improve efficiency and quality. For example, a molding cycle is 30 seconds, the manual take-out time is 6 seconds, the manipulator takes out the 15 kilowatts of 120-ton injection molding machine for seconds, and the manual removal of the product can be molded for 8 hours in 8 hours, and the use of the manipulator is increased to 915 molds, the production efficiency is increased by 14%, and the power consumption of the injection molding machine in 8 hours is 120 degrees (calculated by 1 kilowatt per hour) and the power consumption is saved by 120 * 14% = 17 degrees after using the manipulator.

4.Extend the service life of your injection molding machine. Personnel need to open and close the safety door frequently when taking out the product, which will cause the life of some parts of the injection molding machine to be shortened or even damaged, affecting production. The use of a manipulator eliminates the need to open and close the safety door frequently.

5.Reduce the rate of product defects. The newly formed product has not yet been cooled, and there is residual temperature. Hand removal will cause hand marks and uneven manual removal force, and there are uneven deformations of the product. The manipulator adopts a non-grain gripper, and the force of the gripper is uniform, so that the product quality is greatly improved.

6.Prevent mold damage. Personnel sometimes forget to take out the product, the mold will cause damage to the mold, if the manipulator does not take out the product, it will automatically alarm and stop, and will definitely not hurt the mold.

7.Save raw materials and reduce costs. The personnel take it out for an irregular time, which will cause the product to shrink. Variant (if the barrel is overheated and needs to be re-molded, the raw material will be wasted) is stable because the robot takes out the time is fixed, so the quality is stable.

8.Labor savings. Using the manipulator, the nozzle and the product can be automatically placed separately, no need to select, can save labor, if the random crushing is automatically blown into the barrel, it can save more time and raw materials.

9.High-quality customers also want to choose injection molding manufacturers with manipulators to cooperate. The use of manipulators largely overcomes the inertia of manual labor, and the daily output and delivery date can be accurately calculated. The use of manipulators can increase the competitiveness of enterprises, and it is the biggest trend in the future.

You can program it directly with a PLC motion controller.

In general, you can walk straight lines, arcs, circles, and splines.