Sharing the main structural components of the robot parts, processing components, etc.

- Oct 01, 2019-

So, what is the inside of the robot, what is the mystery? Let's share with you the main structure of the pneumatic manipulator.


First, the structure of each part of the robot


image


1. Swing cylinder 2. Positioning bolt 3. Pneumatic gripper 4, 6, 9. Magnetic switch 5. Standard cylinder 7. Throttle valve 8. Double cylinder 10. Proximity switch 11. Buffer valve 12. Bracket


The robot consists of multiple links and joints. The manipulator is generally composed of a base, an actuator such as a clamp, a suction cup, etc., and joints and connecting rods therebetween, and the robot can perform arbitrary movement and steering within its range of motion. We generally refer to the joint of the activity as the degree of freedom. .


Second, the pneumatic components

image



Type of pneumatic components


The pneumatic components involved in pneumatic manipulators mainly include swing cylinders, double cylinders, pen cylinders and air source treatment components.


Air source treatment component


image


Air source treatment component


The air source treatment assembly consists of a pressure regulating filter, an air inlet switch, and an elbow. The gas source is provided by an air compressor with a pressure range of 0.6 to 1.0 MPa, and the output pressure is 0 to 0.8 MPa, which can be adjusted. The output compressed air is sent to each working unit.


Pen cylinder


image


Pen cylinder


The material is sent to the corresponding position by the reciprocating motion of the cylinder. If the direction of the inlet and outlet changes, the direction of movement of the cylinder will also change. The magnetic switches on both sides of the cylinder are mainly used to track whether the cylinder has moved to the specified position.


Double coil solenoid valve


image




Double coil solenoid valve


The double-coil solenoid valve mainly controls the cylinder to enter and exit the air to realize the telescopic movement of the cylinder. It should be noted that the red indicator light is positive and negative, and if the positive and negative poles are reversed, it can work, but the indication is off.


Single coil solenoid valve


image


Single coil solenoid valve


The single-coil solenoid valve controls the unidirectional movement of the cylinder to achieve telescopic movement. The difference from the double-coil solenoid valve is that the initial position of the double-coil solenoid valve is not fixed, and the two positions can be arbitrarily controlled, and the initial position of the single-coil solenoid valve is fixed and only one of the directions can be controlled.


Pneumatic component motion analysis


image


Hand control diagram


Third, the main sensor


The robot detects its own state, such as speed, position, acceleration, etc., through the internal sensor of the sensor to realize its interaction with environmental information such as distance, temperature and pressure, and the environmental information is detected by an external sensor. Next, the controller is selected by the controller to select the corresponding environmental mode to complete the task.


The sensors used inside the robot are mainly the following:


1, photoelectric sensor


image


photoelectric sensor


Principle: When the detection light emitted by the transmitter is irradiated onto the measured object, diffuse emission occurs, and after the receiver receives the sufficiently strong reflected light, the photoelectric switch starts to operate.


2, inductive proximity switch


image


Inductive proximity switch


Principle: There is an oscillator in the inductive proximity switch, which can generate an alternating magnetic field. When the sensing distance reaches a certain range, eddy current will be generated in the metal target, so that the oscillation intensity is weakened. The oscillation and oscillation of the oscillator are processed by the following amplifier circuit and finally converted into a switching signal.


3, cylinder piston in place detection ---- magnetic switch


image


Magnetic switch


Principle: After the cylinder piston with the magnetic ring moves to the specified position, the two metal pieces in the magnetic switch are closed under the action of the magnetic field, and the trigger signal is generated.


Fourth, the working principle of pneumatic manipulator


working principle


Pneumatic manipulators are mainly composed of control system, drive system, actuator and position detection system. Under the control of the PLC program, the actuator is actuated by pneumatic transmission.


The information of the control system transmits the command to the actuator to track the action of the robot. If the action is wrong or faulty, it will immediately alarm.


The actual position of the actuator is transmitted to the control system by the position detecting device, and finally the actuator is moved to the designated position with a certain precision.