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本机械手是主-从随动控制关节式搬运操作设备,适合于铸、锻等高温、噪声、多尘恶劣环境中工作,用作翻砂取铸件、清铲浇冒口、去飞边、磨毛刺,整理热铸件等等。本机械手球面空间工作范围为直径6米,高3.5米。抓取负荷达500kg,六个自由度。腕部关节采用三个电磁阀点动控制,其余三个关节均为电液伺服控制,其中主轴旋转系统是开环速度控制。肩部和肘部系统均为闭环的位置控制。1 机械手主要特点(1)操作者有“力感”:机械手主-从动臂采取平行结构,主动臂上带有“力感”油缸,能感觉到作用于从动臂上负载的变化,从而使操作者本能地选择最佳用力和操作路线,快速、准确、直观地完成各项操作。
The robot is the master - from the follow-up control of articulated handling equipment, suitable for casting, forging and other high temperature, noise, dust and harsh environment for the work, as the sand castings, clear shovel riser, to the flash, burr grinding , Finishing hot castings and more. The scope of the robot spherical space of 6 meters in diameter, 3.5 meters high. Crawl load up to 500kg, six degrees of freedom. Wrist joint using three solenoid valve Jog control, the remaining three joints are electro-hydraulic servo control, spindle speed control system which is open-loop. The shoulder and elbow systems are closed-loop position control. 1 The main features of the manipulator (1) The operator has “sense of force”: Manipulator master - follower arm to take a parallel structure, the active arm with a “sense of force” cylinder, can feel the role of the slave arm on the load changes, which So that the operator instinctively choose the best use of force and operating routes, fast, accurate and intuitive to complete the operation.