Analysis of the composition of robotic arms in automated sorting equipment

Related analysis of the composition of robotic arms

A non-standard robotic arm is mainly composed of three parts: the actuator, the drive mechanism, and the control system. The hand is a component used to grip workpieces (or tools), and there are various structural forms depending on the shape, size, weight, material, and operational requirements of the grasped object, such as clamping type, supporting type, and suction type. A motion mechanism that enables the hand to complete various rotations (swings), movements, or compound movements to achieve specified actions, changing the position and posture of the grasped object. The independent motion modes of a moving mechanism, such as lifting, extending, and rotating, are called the degrees of freedom of a robotic arm. In order to capture objects at any position and orientation in space, there need to be 6 degrees of freedom. The degree of freedom is a key parameter in the design of robotic arms. The more degrees of freedom there are, the greater the flexibility and versatility of the robotic arm, and the more complex its structure becomes. Generally, specialized robotic arms have 2-3 degrees of freedom. The control system completes specific actions by controlling the motors of each degree of freedom of the robotic arm. Simultaneously receiving feedback from sensors to form a stable closed-loop control. The core of a control system is usually composed of microcontroller chips such as microcontrollers or DSPs, which are programmed to achieve the desired functions.

The elements of robotic arm control include work sequence, arrival position, action time, motion speed, acceleration and deceleration, etc. The control of robotic arms is divided into two types: point control and continuous trajectory control.

The integrated control system for industrial robot systems can be designed to adopt digital sequential control according to the requirements of actions. It first needs to be programmed and stored, and then according to the prescribed program, the storage methods for controlling the working program of the robotic arm include separate storage and centralized storage. Separate storage is the process of storing information on various control factors separately in two or more storage devices, such as sequential information stored in pin plates, cam drums, and perforated belts; The location information is stored in time relays, fixed speed rotary drums, etc; Centralized storage is the process of storing all control factor information in a single storage device, such as magnetic tape, magnetic drum, etc. This method is used in situations where sequence, position, time, speed, etc. must be controlled simultaneously, that is, in the case of continuous control.

3 non-standard handling robots, among which the pin plate is used in situations where rapid program changes are required. Changing the program only requires extracting a different type of pin board, while the same plugin can be reused repeatedly; The length of the program that can be accommodated by the perforated tape is not limited, but if an error occurs, it must be completely replaced; The information capacity of perforated cards is limited, but they are easy to replace, store, and can be reused; Magnetic cores and drums are only suitable for situations with large storage capacities. As for which control component to choose, it is determined based on the complex and precise program of the action. For robotic arms with complex movements, a learning and reproducing control system is adopted. More complex robotic arms use digital control systems, small computers, or microprocessor controlled systems. The most commonly used control system is the pin plate, followed by the cam drum. It is equipped with many cams, each assigned to a motion shaft, and the drum completes one cycle after one revolution.