中文譯文 簡易機械手 隨著社會生產(chǎn)不斷進步和人們生活節(jié)奏不斷加快 ,人們對生產(chǎn)效率也不斷提出新要求。由于微電子技術(shù)和計算軟、硬件技術(shù)的迅猛發(fā)展和現(xiàn)代控制理論的不斷完善 ,使機械手技術(shù)快速發(fā)展 ,其中氣動機械手系統(tǒng)由于其介質(zhì)來源簡便以及不污染環(huán)境、組件價格低廉、維修方便和系統(tǒng)安全可靠等特點 ,已滲透到工業(yè)領(lǐng)域的各個部門 ,在工業(yè)發(fā)展中占有重要地位。本文講述的氣動機械手有氣控機械手、 XY 軸絲杠組、轉(zhuǎn)盤機構(gòu)、旋轉(zhuǎn)基座等機械部分組成。主要作用是完成機械部件的搬運工作 ,能放置在各種不同的生產(chǎn)線或物流流水線中 ,使零件搬運 、貨物運輸更快捷、便利。 步進電機驅(qū)動縱軸上升 ,另一個步進電機驅(qū)動橫軸開始向前走 ;轉(zhuǎn)盤直流電機轉(zhuǎn)動使機械手整體運動 ,轉(zhuǎn)到貨物接收處 ;步進電機再次驅(qū)動縱軸下降 ,到達指定位置后 ,氣閥放氣 ,機械手松開貨物 ;系統(tǒng)回位準(zhǔn)備下一次動作。 機械手縱軸 (Y軸 )和橫軸 (X軸 )選用的是北京四通電機技術(shù)有限公司的 42BYG250C型兩相混合式步進電機 ,步距角為 0.9 /1.8 ,電流 1.5A。 M1是橫軸電機 ,帶動機械手機構(gòu)伸、縮 ;M2是縱軸電機 ,帶動機械手機構(gòu)上升、下降。所選用的步進電機驅(qū)動器是 SH-20403型 ,該驅(qū)動器采用 10 40V 直流供電 ,H 橋雙極性恒相電流驅(qū)動 ,最大 3A 的 8 種輸出電流可選 ,最大 64 細(xì)分的 7 種細(xì)分模式可選 ,輸入信號光電隔離 ,標(biāo)準(zhǔn)單脈沖接口 ,有脫機保持功能 ,半密閉式機殼可適應(yīng)更惡劣的工況環(huán)境 ,提供節(jié)能的自動半電流方式。驅(qū)動器內(nèi)部的開關(guān)電源設(shè)計 ,保證了驅(qū)動器可適應(yīng)較寬的電壓范圍 ,用戶可根據(jù)各自情況在 10 40VDC之間選擇。一般來說較高的額定電源電壓有利于提高電機的高速力矩 ,但卻會加大驅(qū)動器的損耗和溫升。本驅(qū)動器最大輸出電流值為 3A/相 (峰值 ),通過驅(qū)動器面板上六位撥碼開關(guān)的第 5、 6、 7，三位可組合出 8 種狀態(tài) ,對應(yīng) 8 種輸出電流 ,從 0.9A 到 3A 以配合不同的電機使用。本驅(qū)動器可提供整步、改善半步、 4 細(xì)分、 8 細(xì)分、 16 細(xì)分、 32 細(xì)分和 64 細(xì)分 7 種運行模式 ,利用驅(qū)動器面板上六位撥碼開關(guān)的第 1、 2、 3，三位可組合出不同的狀態(tài)。 機械手的旋轉(zhuǎn)動作采用松下伺服電機 A系列小慣量 MSMA5AZA1G,其額定輸出 50W、100/200V共用 ,旋轉(zhuǎn)編碼器規(guī)格為增量式 (脈沖數(shù) 2500p/r、分辨率 10000p/r、引出線 11 線 );有油封 ,無制動器 ,軸采用鍵槽連接。該電機采用松下公司獨特算法 ,使速度頻率響應(yīng)提高 2倍 ,達到 500Hz;定位 超調(diào)整定時間縮短為以往松下伺服電機產(chǎn)品 V系列的 1/4。具有共振抑制功能、控制功能、全閉環(huán)控制功能 ,可彌補機械的剛性不足 ,從而實現(xiàn)高速定位 ,也可通過外接高精度的光柵尺 ,構(gòu)成全閉環(huán)控制 ,進一步提高系統(tǒng)精度。具有常規(guī)自動增益調(diào)整和實時自動增益調(diào)整兩種自動增益調(diào)整方式 ,還配有 RS-485、 RS-232C 通信口 ,使上位控制器可同時控制多達 16個軸。伺服電機驅(qū)動器為 A系列 MSDA5A3A1A,適用于小慣量電動機。 可回旋 360的轉(zhuǎn)盤機構(gòu)有直流無刷電機帶動 ,系統(tǒng)選用的是北京和時利公司生產(chǎn)的 1 57BL1010H1無刷直流電 機 ,其調(diào)速范圍寬、低速力矩大、運行平穩(wěn)、低噪音、效率高。無刷直流電機驅(qū)動器使用北京和時利公司生產(chǎn)的 BL-0408 驅(qū)動器 ,其采用 24 48V 直流供電 ,有起停及轉(zhuǎn)向控制、過流、過壓及堵轉(zhuǎn)保護 ,且有故障報警輸出、外部模擬量調(diào)速、制動快速停機等特點。 在可回旋 360的轉(zhuǎn)盤機構(gòu)上 ,安裝有 OMRON 公司生產(chǎn)的 E6A2 增量型旋轉(zhuǎn)編碼器 ,編碼器將信號傳給 PLC,實現(xiàn)轉(zhuǎn)盤機構(gòu)的精確定位。 根據(jù)系統(tǒng)的設(shè)計要求 ,選用 OMRON 公司生產(chǎn)的 CPM2A 小型機。 CPM2A 在一個小巧的單元內(nèi)綜合有各種性能 ,包括同步脈沖控制、中斷輸入、脈 沖輸出、模擬量設(shè)定和時鐘功能等。 CPM2A 的 CPU 單元又是一個獨立單元 ,能處理廣泛的機械控制應(yīng)用問題 ,所以它是在設(shè)備內(nèi)用作內(nèi)裝控制單元的理想產(chǎn)品。完整的通信功能保證了與個人計算機、其它OMRON PC 和 OMRON 可編程終端的通信。這些通信能力使四軸聯(lián)動簡易機械手能方便的融合到工業(yè)控制系統(tǒng)中。 四軸聯(lián)動簡易機械手的各個動作和狀態(tài)都由 PLC 控制 ,不僅能滿足機械手的手動、半自動、自動等操作方式所需的大量按扭、開關(guān)、位置檢測點的要求 ,更可通過接口元器件與計算機組成 PLC 工業(yè)局域網(wǎng) ,實現(xiàn)網(wǎng)絡(luò)通信與網(wǎng)絡(luò)控制。使四軸聯(lián)動 簡易機械手能方便地嵌入到工業(yè)生產(chǎn)流水線中。 2 外文文獻原文 Mechanical hand Along with the social production progress and people life rhythm is accelerating, people on production efficiency also continuously put forward new requirements. Because of microelectronics technology and calculation software and hardware technology rapid development and modern control theory, the perfection of the fast development, the robot technology pneumatic manipulator system because its media sources do not pollute the environment, simple and cheap components, convenient maintenance and system safety and reliability characteristic, has penetrated into every sector of the industrial field, in the industrial development plays an important role. This article tells of the pneumatic control robots, furious manipulator XY axis screw group, the turntable institutions, rotating mechanical parts base. Main effect is complete mechanical components handling work, to be placed in different kinds of line or logistics pipeline, make parts handling, transport of goods more quick and convenient. Its working process for: when the goods arrived, manipulator system begins to move; Stepping motor control, while the other start downward motion along the horizontal axis of the step-motor controller began to move exercise; Servo motor driver arrived just grab goods manipulators rotating the orientation of the place, then inflatable, manipulator clamped goods. Vertical axis stepper motor drive up, the other horizontal axis stepper motor driver started to move forward; rotary DC motor rotation so that the whole robot motion, go to the cargo receiving area; longitudinal axis stepper motor driven down again, arrived at the designated location, Bleed valve, mechanical hand release the goods; system back to the place ready for the next action. Mechanical hand vertical axis (Y axis) and horizontal (X axis) is chosen Motor Technology Co., Ltd. Beijing Stone 42BYG250C type of two-phase hybrid stepping motor, step angle of 0.9 / 1.8 , current is 1.5A. M1 is the horizontal axis motor driven manipulator stretch, shrink; M2 is the vertical axis motor driven manipulator rise and fall. The choice of stepper motor drive is SH-20403 type, the drive uses 10 40V DC power supply, H-phase bridge bipolar constant current drive, the maximum output current of 3A of the 8 optional, maximum fine of 64 segments of 7 sub-mode optional optical isolation, standard single-pulse interface, with offline capabilities to maintain semi-sealed enclosure can be adapted to environmental conditions even 3 worse, provide semi-current energy-saving mode automatically. Drive the internal switching power supply design to ensure that the drive can be adapted to a wide voltage range, the user can according to their circumstances to choose between the 10 40VDC. Generally the higher rated power supply voltage can improve high-speed torque motor, but the drive will increase the loss and temperature rise. The maximum output drive current is 3A / phase (peak), six drive-panel DIP switch on the first three can be combined 5,6,7 8 out of state, corresponding to the 8 kinds of output current from 0.9A to 3A to meet the different motors. The drive can provide full step, half step improvement, subdivision 4, 8 segments, 16 segments, 32 segments and 64 segments of 7 operating modes. The use of six of the drive panel DIP switches 1,2and3 can be combined from three different states. Manipulator with Panasonic servo motor rotational movement A series of small inertia MSMA5AZA1G, the rated 50W, 100/200V share, rotary incremental encoder specifications (number of pulses 2500p / r, resolution of 10000p / r, Lead 11 lines) ; a seal, no brakes, shaft with keyway connections. The motor uses Panasonics unique algorithms, the rate increased by 2 times the frequency response, to 500Hz; positioning over the past adjust the scheduled time by Panasonic servo motor products for the V Series of 1 / 4. With the resonance suppression, control, closed loop control, can make up for lack of mechanical rigidity, in order to achieve high positioning accuracy can also be an external grating to form closed loop control to further improve accuracy. With a conventional automatic gain adjustment and real-time automatic gain Interest adjustment in the automatic gain adjustment methods, which also has RS-485, RS-232C communication port, the host controller can control up to 16 axes. Servo motor drives are a series MSDA5A3A1A, applicable to small inertia motor. 360 swing of the turntable can be a brushless DC motor driven organization, the system is chosen when the profit company in Beijing and the 57BL1010H1 brushless DC motor, its speed range, low-speed torque, smooth running, low noise, high efficiency. Brushless DC motor drive using the Beijing and when Lees BL-0408 produced by the drive, which uses 24 48V DC power supply, a start-stop and steering control, over current, overvoltage and locked rotor protection, and there is failure alarm output external analog speed control, braking down so fast. Can swing 360 in the body on the turntable, fitted with OMRON E6A2 produced incremental rotary encoder, the encoder signals to the PLC, to achieve precise positioning of rotary bodies. According to the system design requirements, the choice of OMRON CPM2A produced minicomputer. CPM2A in a compact unit integrated with a variety of properties, including the synchronization pulse control, interrupt input, pulse output, analog set and clock functions. CPM2A the CPU unit is a stand-alone unit, capable of handling a wide range of application of mechanical control, it is built in the device control unit for the ideal product. Ensure the integrity of communications and personal computers, other OMRON PC and OMRON Programmable Terminal communication. The communication capability allows the rob