外文翻译-四轴联动简易机械手

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1、四轴联动简易机械手 1绪论 随着社会生产不断进步和人们生活节奏不断加快 ,人们对生产效率也不断提出新要求。由于微电子技术和计算软、硬件技术的迅猛发展和现代控制理论的不断完善 ,使机械手技术快速发展 ,其中气动机械手系统由于其介质来源简便以及不污染环境、组件价格低廉、维修方便和系统安全可靠等特点 ,已渗透到工业领域的各个部门 ,在工业发展中占有重要地位。本文讲述的气动机械手有气控机械手、XY 轴丝杠组、转盘机构、旋转基座等机械部分组成。主要作用是完成机械部件的搬运工作 ,能放置在各种不同的生产线或物流流水线中 ,使零件搬运、 货物运输更快捷、便利。 2四轴联动简易机械手的结构及动作过程 机械手结

2、构如下图 1 所示 ,有气控机械手 (1)、 XY 轴丝杠组 (2)、转盘机构 (3)、旋转基座 (4)等组成。 图 2-1 机械手结构图 其运动控制方式为： (1)由伺服电机驱动可旋转角度为 360的气控机械手(有光电传感器确定起始 0 点 )；(2)由步进电机驱动丝杠组件使机械手沿 X、 Y 轴移动 (有 x、 y 轴限位开关 )；(3)可回旋 360的转盘机构能带动机械手及丝杠组自由旋转 (其电气拖动部分由直流电动机、光电编码器、接近开关等组成 )；(4)旋转基座主要支撑以上 3 部分 ；(5)气控机械手的张合由气压控制 (充气时机械手抓紧 ,放气时机械手松开 )。 其工作过程为：当货物

3、到达时 ,机械手系统开始动作 ；步进电机控制开始向下运动 ,同时另一路步进电机控制横轴开始向前运动 ；伺服电机驱动机械手旋转到达正好抓取货物的方位处 ,然后充气 ,机械手夹住货物。 步进电机驱动纵轴上升 ,另一个步进电机驱动横轴开始向前走 ；转盘直流电机转动使机械手整体运动 ,转到货物接收处 ；步进电机再次驱动纵轴下降 ,到达指定位置后 ,气阀放气 ,机械手松开货物 ；系统回位准备下一次动作。 3控制器件选型 为达到精确控制的目的 ,根据市场情况 ,对各种关键器件选型如下： 3.1 步进电机及其驱动器 机械手纵轴 (Y 轴 )和横轴 (X 轴 )选用的是北京四通电机技术有限公司的42BYG25

4、0C 型两相混合式步进电机 ,步距角为 0.9 /1.8 ,电流 1.5A。 M1 是横轴电机 ,带动机械手机构伸、缩 ；M2 是纵轴电机 ,带动机械手机构上升、下降。所选用的步进电机驱动器是 SH-20403 型 ,该驱动器采用 10 40V 直流供电 ,H 桥双极性恒相电流驱动 ,最大 3A的 8 种输出电流可选 ,最大 64 细分的 7 种细分模式可选 ,输入信号光电隔离 ,标准单脉冲接口 ,有脱机保持功能 ,半密闭 式机壳可适应更恶劣的工况环境 ,提供节能的自动半电流方式。驱动器内部的开关电源设计 ,保证了驱动器可适应较宽的电压范围 ,用户可根据各自情况在 10 40VDC 之间选择。

5、一般来说较高的额定电源电压有利于提高电机的高速力矩 ,但却会加大驱动器的损耗和温升。本驱动器最大输出电流值为 3A/相 (峰值 ),通过驱动器面板上六位拨码开关的第 5、 6、 7，三位可组合出 8 种状态 ,对应 8 种输出电流 ,从 0.9A 到 3A以配合不同的电机使用。本驱动器可提供整步、改善半步、 4 细分、 8 细分、 16 细分、 32 细分和 64 细分 7 种运行模式 ,利用驱动器面板上 六位拨码开关的第 1、 2、3，三位可组合出不同的状态。 3.2 伺服电机及其驱动器 机械手的旋转动作采用松下伺服电机 A 系列小惯量 MSMA5AZA1G,其额定输出 50W、 100/2

6、00V 共用 ,旋转编码器规格为增量式 (脉冲数 2500p/r、分辨率10000p/r、引出线 11 线 )；有油封 ,无制动器 ,轴采用键槽连接。该电机采用松下公司独特算法 ,使速度频率响应提高 2 倍 ,达到 500Hz；定位超调整定时间缩短为以往松下伺服电机产品 V 系列的 1/4。具有共振抑制功能、控制功能、全闭环控制功能 ,可弥补机械的刚性不足 ,从而实现高速定 位 ,也可通过外接高精度的光栅尺 ,构成全闭环控制 ,进一步提高系统精度。具有常规自动增益调整和实时自动增益调整两种自动增益调整方式 ,还配有 RS-485、 RS-232C 通信口 ,使上位控制器可同时控制多达 16 个

7、轴。伺服电机驱动器为 A 系列 MSDA5A3A1A,适用于小惯量电动机。 3.3 直流电机 可回旋 360的转盘机构有直流无刷电机带动 ,系统选用的是北京和时利公司生产的 57BL1010H1 无刷直流电机 ,其调速范围宽、低速力矩大、运行平稳、低噪音、效率高。无刷直流电机驱动器使用北京和时利公司生产的 BL-0408 驱动器 ,其采用 24 48V 直流供电 ,有起停及转向控制、过流、过压及堵转保护 ,且有故障报警输出、外部模拟量调速、制动快速停机等特点。 3.4 旋转编码器 在可回旋 360的转盘机构上 ,安装有 OMRON 公司生产的 E6A2 增量型旋转编码器 ,编码器将信号传给 P

8、LC,实现转盘机构的精确定位。 3.5.PLC 的选型 根据系统的设计要求 ,选用 OMRON 公司生产的 CPM2A 小型机。 CPM2A 在一个小巧的单元内综合有各种性能 ,包括同步脉冲控制、中断输入、脉冲输出、模拟量设定和时钟功能等。 CPM2A 的 CPU 单元又是一个独立单元 ,能处理 广泛的机械控制应用问题 ,所以它是在设备内用作内装控制单元的理想产品。完整的通信功能保证了与个人计算机、其它 OMRON PC 和 OMRON 可编程终端的通信。这些通信能力使四轴联动简易机械手能方便的融合到工业控制系统中。 4软件编程 4.1 软件流程图 流程图是 PLC 程序设计的基础。只有设计出

9、流程图 ,才可能顺利而便捷地编写出梯形图并写出语句表 ,最终完成程序的设计。所以写出流程图非常关键也是程序设计首先要做的任务。依据四轴联动简易机械手的控制要求 ,绘制流程图如图 2 所示。 图 4-1 软件流程图 4.2 程序部分 由于 论文篇幅有限 ,这里只列出了开始两段程序 ,供读者参阅 ,见图 3。 图 4-2 程序列表 5结束语 四轴联动简易机械手的各个动作和状态都由 PLC 控制 ,不仅能满足机械手的手动、半自动、自动等操作方式所需的大量按扭、开关、位置检测点的要求 ,更可通过接口元器件与计算机组成 PLC 工业局域网 ,实现网络通信与网络控制。使四轴联动简易机械手能方便地嵌入到工业

10、生产流水线中。 Matters of the manipulator axial linkage simple structure and action process Abstract 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 c

11、alculation 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

12、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 b

13、ase. 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. I.Matters of the manipulator axial linkage simple structure and action process Manipulator structure, as

14、 shown in figure 1 below have accused of manipulator (1), XY axis screw group (2), the turntable institutions (3), rotating base (4), etc. Its motion control mode is: (1) can rotate by servomotor Angle for 360 breath control manipulator (photoelectric sensor sure start 0 point)； (2) by stepping moto

15、r drive screw component make along the X, Y manipulators move (have X, Y axis limit switches)； (3) can rotates 360 can drive the turntable institutions manipulators and bushings free rotation (its electric drag in part by the dc motivation, photoelectric encoder, close to switch etc)； (4) rotating b

16、ase main support above 3 parts； (5) gas control manipulator by pressure control (Zhang close when pressed on, put inflatable robot manipulators loosen) when gas. Its working process for: when the goods arrived, manipulator system begins to move； Stepping motor control, while the other start downward

17、 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 mo

18、tor 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 n

19、ext action. II. Control device selection To achieve precise control purposes, according to market conditions, selection of a variety of key components as follows: 1. Stepper motor and drive Mechanical hand vertical axis (Y axis) and horizontal (X axis) is chosen Motor Technology Co., Ltd. Beijing St

20、one 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 4

21、0V 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

22、environmental conditions even 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 hi

23、gher 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 o

24、utput 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 st

25、ates. 2. Servo motors and drives 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

26、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

27、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

28、 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. 3. DC machine 360 swing of the turntable can be a brushless DC motor driven organization, the sys

29、tem 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-st

30、op and steering control, over current, overvoltage and locked rotor protection, and there is failure alarm output external analog speed control, braking down so fast. 4. Rotary encoder Can swing 360 in the body on the turntable, fitted with OMRON E6A2 produced incremental rotary encoder, the encoder

31、 signals to the PLC, to achieve precise positioning of rotary bodies. 5. PLC Selection 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

32、 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 OM

33、RON PC and OMRON Programmable Terminal communication. The communication capability allows the robot to Axis simple easy integration into industrial control systems. III. Software programming 1. Software flow chart PLC programming flow chart is based. Only the design flow, it may be smooth and easy t

34、o prepare and write a statement form the ladder, and ultimately complete the process design. So write a flow chart of program design is critical to the task first thing to do. Axis Manipulator based on simple control requirements, drawing flow chart shown in Figure 2. 2. Program part Because space i

35、s limited, here only paper listed the first two program segment for readers see. IV. Conclusion Axis simple robot state by the various movements and PLC control, the robot can not only meet the manual, semi-automatic mode of operation required for such a large number of buttons, switches, position detection point requirements, but also through the interface components and Computer Organization PLC industrial LAN, network communication and network control. Axis simple robot can be easily embedded into industrial production pipeline.