I. Design principles for handling robots
The moving robot is a movable door-frame structure, where the arm carrier moves along the track, which is installed and placed on the pole above the guard。
1. The arm carrier moves along the guidance tracks, with a dual-role cylinder drive installed on the carrier, to ensure a 600 mm back movement of the operator's arm。
2. The transfer of arms in the shoulder joint is effected by a double-role cylinder drive installed on the carrier, a motion conveyor and a roller wire bar installed on the shoulder。
3. Shift of the arm in the elbow joint, by means of a double-acting cylinder drive installed on the small arm, and by a motor conveyor。
Ii. The general design of moving robots
The design robot can be divided into two stages:
1. System analysis phase
1 defines the purpose and mission of the robot to be used in accordance with the objectives of the system。
Analysis of the operating environment of the robotic system。
The basic functions and programmes of robots are defined in accordance with the working requirements of robots. Such as the freedom of robots, the amount of information stored, computer functions, the requirements for action precision, the weight that can be captured, the permissible range of motion, and the adaptation of environments such as temperature, vibration, etc。
Technical design phase
1 to determine the freedom of robots and the scope of space work allowed in accordance with the requirements of the system and to select the coordinates of robots。
2. Development of robots ' motor and space maps。
3 determine the type of driver system。
4. Select the specific structure of each component and design the total robotic map。
5 draw parts of robots and determine sizes。
Iii. Structures of handling robots
The handling robot consists of three parts: the implementing agency, the driving agency and the control body。
Implementing agencies
(1) hand
The parts of the hand that are both directly in contact with the work are generally re-transitional or flat (mostly transformational because their structure is simple). The hand is more than two fingers (also multiple fingers); it is divided into exterior and inner grabs, as required; it can also be used with negative pressure or vacuum air vacuums (mainly for adsorbed, smooth surface parts or sheet parts) and electromagnetic disks。
There are more types of transmission agencies, which are commonly used in the following ways: slide levers, levers, weed wedge levers, gear bars, silk bars, springs and gravity. The hand of this design selects the hand of the transformational structure. Hand-held stretching exercises rely on poles, which are powered by a subsequent-drive hydraulic tank, which uses an elastic hydraulic tank that saves horizontal workspace。
(2) wrist
The wrist is a part that connects hands and arms and can be used to regulate the position of the captured object in order to widen the range of actions of the robot and to make the hand more smart and adaptable. The wrist has an independent degree of freedom. There's a turn movement, up and down, right and left. A general wrist movement with a rotational movement can meet the work requirements by adding an upper-down swing, some of the more simple specialized mechanics, who, in order to simplify the structure, can drive hand movers directly with an arm movement without a wrist。
At present, the most extensive wrist-turning motor is used as a revolving hydraulic (air) tank, which is structured in a compact, smart but small angle (generally less than 270) and requires strict sealing, otherwise it will be difficult to secure a stable output twist. Therefore, in cases where a larger turning angle is required, the gearing or chain wheel and the wheel structure are used. This design is designed to carry robots in the wrists to achieve a hand-to-hand rotation of 180。
The wrist drive is directly driven, and as the wrist is placed at the end of the arm, it must be designed so that the driver can be mounted on the wrist. The robot's hand band is driven by a double-acting single-column hydraulic tank, while the rotational movement of the wrist is carried out by a rotary hydraulic tank. Linking the casings of the pistols to the moving blades of the pistols; when oil is injected into the different cavities of the pyramids, it is possible to reverse the wrists in different directions。
(3) arm
The arm parts are important holding parts of the mechanical hand. Its role is to support wrists and hands (including work or gear) and to drive them into space。
The purpose of the arm movement: to send the hand to any point within the space movement. In the event of a change in the gesture (location) of the hand, it is achieved by the freedom of the wrist. Thus, in general, the arm has three degrees of freedom in order to meet the basic requirements, namely, the stretching of the arm, the rotation of the right and the left, and the movement of the rise and fall (or fall over)。
The various movements of the arm are usually carried out by driving agents (e. G., hydraulic or gas cylinders) and various transmission agencies, and are analysed from the strength of the arm, which is both static, motor load of wrists, hands and parts, and more intense and complex in its own exercise. Thus, its structure, scope of work, flexibility and capture of significant smallness and precision in positioning directly affect the performance of the mechanics. This design achieves upper and lower arms movement, back and forth stretching, and back arm movement. Motion parameters for arms: scalding: 1,200 mm; scalability: 83 mm/s; up and down: 300 mm; up and down: 67 mm/s; turning range: 180 ~0. The convulsion of the robot's arm changes the length of its arm's work, and in a cylindrical coordinate structure, the maximum working length of the arm determines the diameter of the cylindrical surface at the end. Scalable arm structures can be driven directly by hydraulic cylinders。
4) aeroplanes
The seating is a fundamental part of the robotic body and supports it. For stationary robots, directly connected to the ground, and for mobile robots, installed in mobile structures. The body consists of an arm movement (up and down, smoothing, rotation and sub-opture) body and its associated guidance, support, etc. Also, motors or transmissions for movement such as lifting or descending arms are installed on the aircraft. The more the arm moves, the more complex the body structure and stress. The robot for handling robots in this graduation design was selected to lift back to the transformer body structure; the arm and body configuration was configured in a one-armed vertical column, driven by a revolving hydraulic cylinder。
Drivers
Drivers are an important part of moving robots. Depending on the power source, industrial mechanics can be broadly divided into hydraulic, aerodynamic, electric and mechanical drivers。
(1) hydraulic transfer. Large power volume ratios, often used in heavy loads; pressure, flow, easy to control and no velocity; responsiveness, continuous trajectories control and maintenance; but liquids are sensitive to temperature changes and oil leaks are prone to fire; both small and medium-sized specialized mechanics or robots are used and heavy mechanics are mostly hydraulic-driven; hydraulic elements are costly and oil routes are complex。
(2) pressure transfer. Aerodynamic systems are simple, low-cost, suitable for high beat, small load and low-precision settings. They are often used for spot control, capture, flexible holding and vacuum adsorption, which are high-speed, but with a severe impact and difficult to locate; maintenance is simple and can be used in harsh environments such as high temperature, dust and soak without impact; and small or medium-sized specialized mechanics or robots are used。
(3) electric. There are electric drive methods such as walk-through, direct-flow, step-by-step or service machines. The use of electric motors is simple and, with the improvement of material performance, the performance of electric motors is gradually increasing and is now mainly suitable for medium loads, especially industrial robots with complex movements and strong motor tracks and various micro-robs。
(4) brakes: the brake is a device that transforms the energy of the mechanical motion component into a heat release, which reduces or stops the mechanical speed of the movement, broadly divided into mechanical brakes and electrical brakes. In robotic institutions, the following are taught to use brakes:
Summary of stoppages in exceptional circumstances and the need for security measures
(b) when power is out, prevent a partial decline in the movement and damage to other devices。
Mechanical brakes:
Mechanical brakes include spiral automatically loaded brakes, disk brakes, lock brakes and electromagnetic brakes. The most typical of these is the electromagnetic brakes。
Power-serving motors are frequently used in robotic driven systems, and the characteristics of the server itself determine that electromagnetic brakes are indispensable components. In principle, this brake is a disk brake made with spring power, only magnetic currents are opened through a wire-time brake, at which point the brakes cannot act as brakes, and when the power is cut off without a magnetic current, they are in a constant closed mode of brake under the spring force. So this brake is called a non-reactive magnetic action-type electromagnetic brake. It is also known as a security brake because it is often used in a safe brake setting。
Electrical brakes
The electric motor is a device for converting electrical energy into mechanical energy and, conversely, he also has a power generation function for converting rotary machinery into electrical energy. In other words, the server is an energy conversion device that converts electrical energy to mechanical energy while also being able to achieve the purpose of braking through its counter-process. However, appropriate brake circuits must be used for different types of electric power, such as direct currents, synchronized generators and sensors。
3. Regulatory bodies
At the heart of building robotic platforms is building robotic control systems. The selection and hardware platform is needed first, and the control system hardware platform has a significant impact on the system's openness, delivery and development workload. The hardware platform of the control system, which is commonly used, should meet the following: hardware systems are based on a standard bus structure with scalability; hardware structures have the necessary real-time computing capability; hardware systems are modularized to facilitate the addition or modification of interfaces, sensors and special computers; and are low-cost. So far, the hardware platforms of the general robotic control system can be broadly divided into two types: systems based on the vme bus (versamode eurocard, first generation 32 industrial open standards bus launched by motorola in 1981) and systems based on the pc bus. In recent years, with the rapid development of the functioning of the pc, reliability has increased significantly, while prices have decreased significantly, and control systems centred on the pc have been widely accepted in robotic control。
