Guangzhou Zhuofeng designed a skylight glass loading and unloading power manipulator for Aisin Seiki. It is light and flexible to load and unload materials in conjunction with the processing skylight production line. The fixture adopts a non-standard suction cup flipping mode, which is simple, flexible and multi-tasking, and the customer is very satisfied. It has been put into use, and the operation is flexible and convenient, effectively reducing the labor intensity of on-site workers and improving production efficiency. On-site workers are happy to use this skylight glass loading and unloading rib force manipulator.

1: Composition and technical description of the power manipulator

The manipulator is mainly composed of three parts: the hand, the motion mechanism and the control system. The hand is a component used to grasp the workpiece (or tool). According to the shape, size, weight, material and operation requirements of the grasped object, there are various structural forms, such as clamping type, holding type and adsorption type. The motion mechanism enables the hand to complete various rotations (swings), movements or compound movements to achieve the specified actions and change the position and posture of the grasped object. The independent movement modes of the motion mechanism, such as lifting, retracting, and rotating, are called the degrees of freedom of the manipulator. In order to grasp objects at any position and orientation in space, 6 degrees of freedom are required. Degree of freedom is a key parameter in the design of manipulators. The more degrees of freedom, the greater the flexibility of the manipulator, the wider its versatility, and the more complex its structure. Generally, special manipulators have 2 to 3 degrees of freedom. The control system completes specific actions by controlling the motors of each degree of freedom of the manipulator. With various non-standard fixtures, the hard-assisted manipulator can lift workpieces of various shapes. The installation form can be ground fixed, suspended fixed or rail movable.

b) The power-assisted manipulator has the function of balancing the gravity of the material, floating the heavy object in the air, and the operator can easily and conveniently perform various requirements for the handling, assembly and special positioning of the heavy object. It plays an increasingly important role in reducing labor intensity, ensuring work safety, and improving production efficiency. The operation of the power-assisted manipulator is very simple, and the operating handle is simple and easy to control, so that the action output by the handle can be quickly responded.

2: Safety introduction of the power-assisted manipulator system

a) Equipped with a load display to indicate the load status and inform the operator: whether the material can be lifted or unloaded at this time. When the system is in a load state, the display is red.

b) Equipped with a load pressure gauge to indicate the working condition of compressed air.

c) Equipped with a safety misoperation protection device to prevent misoperation from causing harm to people or equipment; before the operator confirms the installation condition, that is, before the workpiece is installed in place, if the worker mistakenly operates the release button, the workpiece cannot be unloaded (limited to power clamps).

d) The system is equipped with a gas loss protection device. When the main air supply source is accidentally cut off, the main arm cannot move and the manipulator stops working to avoid accidental injuries.

e) The equipment is equipped with a safety control system. During operation, the system will not suddenly change the load or no-load pressure due to misoperation, so the manipulator will not rise or fall quickly and cause harm to people, equipment and products.

3: Advantages of power manipulators

Easy to operate and highly automated.

b) Easy to change direction, which can easily realize the conversion between rotation of the working mechanism and linear reciprocating motion.

c) Easy to achieve overload protection.

d) Small size and light weight.

e) Unrestricted in spatial layout.

f) It can automatically adjust the traction speed smoothly within the specified range to achieve infinite adjustment.

g) It uses gas as the working power source, with low noise, very reliable stability and long service life.

4: Classification of power-assisted manipulators

According to the nature of use and the characteristics of power-assisted manipulators, our company divides power-assisted manipulators into two categories: hard arm type and soft cable type

The most intuitive difference between the two categories is whether the clamp part can swing like a pendulum (that is, the clamp is connected by wire rope or soft cable)

The biggest difference between the two uses is: when the hard arm type is used, the clamp can realize various actions of free flipping of the workpiece in space, and the mask is not affected by obstacles on the clamp placement surface

The use of the soft cable type is more convenient and flexible than the hard arm, and the workpiece is moved from point A to point B as it is

According to the power source, it is divided into two categories: pneumatic power-assisted manipulators and electric intelligent balance cranes. The main difference is the different power sources used.

5: Installation method of power manipulator

The installation methods of power manipulator are generally divided into the following categories:

Base-mobile power manipulator---selected for items with small end load weight and when the workstation can be changed.

Column-fixed power manipulator.

Suspended power manipulator

Suspended track mobile power manipulator.