The control system of the lathe manipulator

The control system of the lathe manipulator

The elements of the manipulator control include the working order, the arrival position, the action time, the speed of movement, the speed of addition and subtraction, and so on. The control of manipulator is divided into two kinds: point position control and continuous trajectory control.

The control system can be designed to use digital sequence control according to the requirements of the action. It first compiling programs to store, and then according to the prescribed procedures, it controls two kinds of storage ways of robot's working procedure, separate storage and centralized storage. Isolated storage is the storage device to control elements of information are stored in more than two kinds, such as the order of information is stored in the latch plate, the cam drum, tape; position information is stored in the constant speed rotary drum, time relay; centralized storage is various control factors all of the information stored in a storage device such as tape, drum, etc.. This method is used in the case of sequence, position, time, speed, etc. that must be controlled at the same time, that is, continuous control.

The latch board is used in situations where the program needs to be changed quickly. For a program just replacing a latch plate limit, and the same plug-in and can be used repeatedly; perforated hold program length is not limited, but if an error occurs to replace all punched card information; a limited capacity, but easy to replace, preservation, reuse; magnetic stamen and drum is only suitable for the occasion of big storage capacity. As for which control element is selected, it is determined according to the complex procedure and the precise procedure of the action. For the manipulators with complex movements, the reproduced control system is used. A more complex manipulator uses a digital control system, a minicomputer, or a microprocessor controlled system. The control system is the most used for the pin board, followed by the cam drum. It is equipped with many cams, each cam is assigned to a moving shaft, and the drum moves a cycle for a week.