Manipulator is a kind of automatic operation device which can imitate some movement functions of human hand and arm, and is used to grasp and carry objects or operation tools according to fixed procedures. It is the earliest industrial robot, which can take the place of human to engage in monotonous and arduous work, improve product quality and production efficiency, and realize industrial mechanization and automation. Widely used in machinery manufacturing, metallurgy, electronics, light industry and other industries.
The manipulator control system mainly focuses on three stages: the first generation manipulator mainly completes some simple and repeated actions according to the program, and there is no sensor for various signal detection in the external environment, so the control precision is low and the applicability is poor, which greatly limits its application in the industrial field; the second generation manipulator uses displacement sensor, angle sensor and force sensor In order to realize the perception and feedback of the external environment, the detected physical quantities are converted into electrical signals. This has greatly improved the control accuracy and stability of the manipulator, and has been greatly promoted in the field of automation; based on the sensor detection signal, the third generation robot (intelligent industrial robot) adopts various intelligent processing and algorithms, which can make decisions independently according to the field situation, and improve the self-adaptive ability of the manipulator, so that it can complete more complex tasks. Intelligent industrial robot is the hot spot and development direction of the current market research. It has deep theoretical significance, practical research value and broad application space. It is a high-tech product of the in-depth development of industrial automation.
Linear displacement sensor is used in manipulator control system, which can convert mechanical displacement into DC voltage signal, which is processed by signal amplification circuit and converted into standard analog signal or digital signal for acquisition and processing of control system. Displacement sensor, servo controller and servo motor constitute a high-precision displacement measurement and control closed-loop control system to achieve displacement measurement and position positioning.
Taking the sand blasting process of thyristor as an example, it shows that in the manufacturing process of high voltage thyristor, it is necessary to sandblast and reshape the chip after laser cutting process, so as to meet the precision requirements of the subsequent process on the appearance shape. In the early sand blasting process, the position and angle of the nozzle were adjusted by manual screw rod, and the nozzle position was adjusted by continuous feeding during the processing. If the nozzle position is fixed, the chip profile will be distorted; if the nozzle position is adjusted intermittently, the profile will be irregular serrated. Manual operation is also difficult to ensure the consistency and accuracy requirements of processed products. The high precision manipulator based on linear displacement sensor takes the sensor signal as the feed position feedback to which element, and the servo control system as the actuator. Through the displacement and speed closed-loop control, it can highly simulate the flexible operation of manual continuous feeding, which greatly improves the intelligent level of the process and the level of product processing and manufacturing.
