The passenger car side door handling power manipulator designed by Guangzhou Zhuofeng for Guangzhou Honda is light and flexible for loading and unloading materials in conjunction with the welding processing production line. The fixture adopts a non-standard clamping and flipping mode, which is simple, flexible and multi-tasking, and the customer is very satisfied. It has been put into use and is flexible and convenient to operate, effectively reducing the labor intensity of on-site workers and improving production efficiency. On-site workers are happy to use this handling power manipulator.

1: Composition and technical description of power manipulator

The manipulator is mainly composed of three parts: hand, motion mechanism and control system. The hand is a component used to grasp the workpiece (or tool). There are various structural forms according to the shape, size, weight, material and operation requirements of the grasped object, 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. Degrees of freedom are key parameters for manipulator design. 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 motor 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 assist 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 required handling, assembly and special positioning work on the heavy object. It plays an increasingly important role in reducing labor intensity, ensuring operation safety, and improving production efficiency. The operation of the assist 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 assist 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 the 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 status, 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) Can automatically adjust the traction speed smoothly within the specified range to achieve stepless adjustment.

g) Using gas as the working power source, it has 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 fixture part can swing like a pendulum (that is, the fixture is connected by wire rope or soft cable)

The difference between the two uses is: when the hard arm type is used, clamping can realize various actions of the workpiece to be freely flipped in space, and the mask is not affected by obstacles on the fixture 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 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 that the power source used is different.

5: System safety design measures for power-assisted manipulators

1. One-way valve unit + gas tank unit gas cut-off protection. Ensure that the manipulator will not cause accidental injury when it is cut off, and the operation can continue for one and a half working cycles.

2. Brake unit The brake is located at the joint to prevent the manipulator from rotating and loosening, and also allows the operator to easily control the workpiece, that is, the manipulator and the fixture can be stopped at any position. The brake is controlled by a button installed on the fixture. When the operator presses the control button, the manipulator is in a locked state. The brake can also be used to park the manipulator after work is completed.

3. Clamp self-locking unit The shut-off valve function design prevents the system from being cut off or leaking at any position. The fixture will not release the object unless the operator issues an instruction.

4. Load self-locking unit---load in-place protection Load self-locking in-place protection design. Ensure that the fixture will not release when the workpiece is not placed in the specified position, even if the "release" button is pressed. This design can prevent the release of the workpiece.

5. Load self-locking unit---load suspension protection Load self-locking suspension protection design. Ensure that the workpiece will never be released when it is in mid-air, even if the "release" button is pressed

6. Load self-locking unit---load limit protection Load self-locking limit protection design. When the manipulator is in the lowest limit position designed, the fixture will not release the load even if the "Release" button is pressed.

7. Vacuum self-locking unit---The vacuum air circuit adopts a one-way valve self-locking double vacuum double air circuit protection. When the load is suspended, if the pressure is lost or one vacuum air circuit is damaged, the one-way valve will self-lock the leaking air circuit,

The other vacuum air circuit can still maintain the vacuum degree to ensure that the workpiece does not lose pressure and fall.