The manipulator can be divided into special manipulator and general manipulator:
1. Special manipulator
It is a mechanical device attached to the host with a fixed program and no independent control system. Special machinery
The hand has the characteristics of less movement, single working object, simple structure, reliable use and low cost.
Batch automatic production, such as automatic machine tools, automatic line loading and unloading robots and automatic tool changing robots attached to the “Machining Center”.
2. Universal manipulator
It is a manipulator with independent control system, variable program and flexible and diverse movements. Within the range of specifications and performance, its action program is variable, and can be used in different occasions through adjustment, drive system and
The control system is independent. The general manipulator has a large working range, high positioning accuracy and strong versatility, suitable for
Continuously changing production varieties of small and medium batch automated production.
The general-purpose manipulator can be divided into two types: simple type and servo type according to the different control and positioning methods: the simple type controls the positioning in an “on and off” style, and can only be controlled by point position: the servo type has a servo system positioning control system, which can be It can also realize continuous trajectory control. The general servo-type general-purpose manipulator belongs to the numerical control category.
type.
(2) According to the driving mode
1. Hydraulic transmission manipulator
It is a manipulator that drives the movement of the actuator by hydraulic pressure. Its main features are: grasping weight can reach several
More than 100 kilograms, stable transmission, compact structure and sensitive action. However, the requirements for the sealing device are strict, otherwise the oil
The leakage of the manipulator has a great influence on the working performance of the manipulator, and it is not suitable to work at high temperature and low temperature. If mechanical
The hand adopts electro-hydraulic servo drive system, which can realize continuous trajectory control and expand the versatility of the manipulator, but
The electro-hydraulic servo valve has high manufacturing precision, strict requirements for oil filtration, and high cost.
2. Pneumatic transmission manipulator
It is a manipulator that drives the movement of the actuator by the pressure of compressed air. Its main features are: the medium source is extremely convenient, the output force is small, the pneumatic action is fast, the structure is simple, and the cost is low. However, due to the compressible characteristics of air, the stability of the working speed is poor, the impact is large, and the pressure of the air source is low, and the grasping weight is generally below 30 kg. Therefore, it is suitable for working in high-speed, light-load, high-temperature and dust-heavy environments.
3. Mechanical transmission manipulator
That is, a manipulator driven by mechanical transmission mechanisms (such as cams, connecting rods, gears and racks, intermittent mechanisms, etc.). It is a special manipulator attached to the work host, and its power is transmitted by the work machine. Its main features are accurate and reliable movement, high frequency of action, but large structure and immutable action program. It is often used for loading and unloading of the working host.
4. Electric drive manipulator
That is, a manipulator with a special structure of an induction motor, a linear motor or a power stepper motor directly drives the movement of the actuator. Because it does not require an intermediate conversion mechanism, the mechanical structure is simple. Among them, the linear motor manipulator has fast movement speed and long stroke, and is easy to maintain and use. There are not many such manipulators at present, but there is a future.
(3) According to the control method
1. Point control
Its movement is the movement from point to point in space, and it can only control the position of several points in the movement process, but not its movement trajectory. If the number of points to be controlled is large, the complexity of the electrical control system will inevitably increase. Both special-purpose and general-purpose industrial robots in use today fall into this category.
2. Continuous track control
Its motion trajectory is an arbitrary continuous curve in space, and its characteristic is that the set point is infinite, the entire moving process is under control, it can achieve smooth and accurate motion, and it has a wide range of applications, but the electrical control system is complex. This type of industrial manipulator is generally controlled by a small computer.
Post time: Mar-11-2022