Manipulator

A manipulator is in the field of robotics, the device that allows the physical interaction with the environment, that the movable part of the robot structure, which performs the mechanical operation of the robot. In principle, the manipulator of the part that is usually associated with an industrial robot.

• 5.2.1 Standardschweißdrehkipptisch
• 5.2.2 Rotary tilting table with lifting device

Tasks

A robot generally has the following objectives:

• Manipulieraufgaben, eg welding, cutting, engraving, etc. - like all conventional methods of manufacturing
• The same moving of objects in space without editing, eg workpiece supply for a machining center: positioning
• Measurement tasks.

For these tasks the robot must accordingly be equipped with tools, gripping systems or measuring instruments. All three have in common is the need for the processing center ( tool center point ) to position the tool into different poses and orientations in space.

For this, each robot has several rotating or shifting axes ( rotary or linear axes ), which are summarized by the combination of the individual movements to a total movement.

Construction

Elements of a manipulator are:

• The base ( the foundation ),
• The axes with the drive units ( engines, transmissions, angle encoder)
• Cables or lines to their energy supply, control and signal transmission,
• The housing

Control

Next manipulators programmed to automatically perform processes repeatedly (for example, in production lines of automobile manufacturers ), the manipulators are also controlled manually. Maintenance in areas of a nuclear power plant that are exposed to radiation, are often carried out manually with manipulators. In ROV manipulators are used to carry out activities under water (eg, welding, collect scientific samples, valves open and close).

History

The term Waldo used in English usage first appears in the 1940 published science fiction story ' Waldo & Magic Inc ' by Robert A. Heinlein. There he called manipulators, which are named after their inventor suffering from muscle weakness.

Welding manipulator

Weld tilt

Under a standard welding rotary tilting table is defined as a device that enables a component to two axes to move ( tilt and turn). There are also designs with rotary tilting and lifting axis to find on the market. It is common that the weld tilt has a universal mount. In this, the components are directly or via a specialized device tense (eg jaw chuck )

Axis of rotation and the tilt axis

The tilting axis is used to position a component sweat meet, decide here is the " weld bead ". The axis of rotation is often precisely controlled in its speed. This speed control is necessary because often pipes or other round parts are welded. In the event that a pipe is welded, the rotational motion can be used as a feed axis. Thus, the welding torch can be held virtually to a point, the tube rotates away underneath and there is a continuous weld.

Ergonomics and welding quality

If no round components welded, the welding turntable still has advantages. Firstly, the position has in a weld is performed have an impact on the quality of the weld and is partially Mandatory (see welding position, DIN EN ISO 6947 ). If different positions on a component welded in different positions, so the Kippdrehtisch can align the component so that it is fast and cost -saving manner. Secondly, these manipulators are often used in manual production, then there is a welder at the tilting tables and performs the Schweißbrennner. The welder tired faster, the more unfavorable the position or posture in which he has to welding. Here, too, can help a weld tilt as it allows an optimal welding location and good ergonomics.

Designs

Standardschweißdrehkipptisch

As described above has a Standardschweißdrehkipptisch two movable axes. An axis to tilt around the component, one to rotate it.

The Cent Rick 's products, the pivot point is above the chip surface, thus these rotary tilting tables, a particularly advantageous load capacity compared to other devices that have their pivot point of the chip surface.

Rotary - tilting table with lifting device

But there are also more and more Schweißdrehkipptische which additionally have a stroke axis. This can increase the ergonomics. Typically, these sets are a lot larger and more intense than investment equally strong rotary tilting tables.

Controls

There are a variety of control options for turn-tilt tables. These range from unregulated axes which are operated via a simple user surface or a pedal to a once approached and saved position repeatedly can automatically start up via controllable axes, up to fully adjustable drives that have linear or angular measurement systems. According to the control, a different degree of automation of the weld can be achieved. The Comprehensive control the more tasks can be accomplished by it. Thus, it is partly possible to have a welding process automatically running, an operator is only required for the tool change or in the case of disturbances.