Control method of die-casting six-axis manipulator and die-casting six-axis manipulator

Abstract

The invention discloses a control method of a casting six-shaft manipulator. The casting six-shaft manipulator comprises a mechanical arm, the mechanical arm is provided with a transverse part, a drawing part, a main arm part and an auxiliary arm part. The main arm part is provided with a piece picking jaw. The casting six-shaft manipulator is characterized by being provided with a casting six-shaft manipulator control system composed of a manipulator arm motion control device and a servo control mist recycling device. The control method includes steps of (1) setting the manipulator arm motion state control device; (2) setting a manipulator arm servo driving device; (3) setting the servo control mist recycling device; (4) starting the casting six-shaft manipulator control system and a casting machine, acquiring real-time motion data of the manipulator arm via a data acquisition unit, transmitting the motion data to a computer to draw a motion track, obtaining correction information to feed back to servo control single-chip microcomputers so that motion of the manipulator arm can be corrected and spatial motion and accuracy of the dynamic manipulator arm can be accurately controlled. The invention further discloses the casting six-shaft manipulator.

Description

technical field [0001] The invention relates to the technical field of mechanical automation control, in particular to a control method of a die-casting six-axis manipulator, and a die-casting six-axis manipulator implementing the control method. Background technique [0002] The traditional die-casting manipulator and spray machine are separated independently. The pick-up manipulator occupies most of the space on the ground. Spraying requires an independent spray machine. The spray machine can only have a single-section structure, which requires extremely high requirements for the factory building. Grippers need to be replaced to grab different products. There is no function of inserts, no stacking function, and the operation cannot be programmed independently. [0003] During the process of processing the roller screw by the screw grinder equipment in the current workshop, a large amount of oil mist and toxic and harmful exhaust gas are generated. A large amount of oil mi...

AI Technical Summary

Problems solved by technology

A large amount of smoke and toxic and harmful exhaust gas in the workshop not only cause harm to the health of the workshop workers, but also directly affect the normal work of the air conditioning unit, and even damage the central air conditioning surface cooling unit

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