外文翻譯-四軸聯(lián)動(dòng)簡(jiǎn)易機(jī)械手

1、<p><b>　　四軸聯(lián)動(dòng)簡(jiǎn)易機(jī)械手</b></p><p><b>　　1緒論</b></p><p>　　隨著社會(huì)生產(chǎn)不斷進(jìn)步和人們生活節(jié)奏不斷加快,人們對(duì)生產(chǎn)效率也不斷提出新要求。由于微電子技術(shù)和計(jì)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(jī)械手技術(shù)快速發(fā)展,其中氣動(dòng)機(jī)械手系統(tǒng)由于其介質(zhì)來(lái)源簡(jiǎn)便以及不污染環(huán)境、組件價(jià)格

2、低廉、維修方便和系統(tǒng)安全可靠等特點(diǎn),已滲透到工業(yè)領(lǐng)域的各個(gè)部門,在工業(yè)發(fā)展中占有重要地位。本文講述的氣動(dòng)機(jī)械手有氣控機(jī)械手、XY軸絲杠組、轉(zhuǎn)盤機(jī)構(gòu)、旋轉(zhuǎn)基座等機(jī)械部分組成。主要作用是完成機(jī)械部件的搬運(yùn)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(yùn)、貨物運(yùn)輸更快捷、便利。</p><p>　　2四軸聯(lián)動(dòng)簡(jiǎn)易機(jī)械手的結(jié)構(gòu)及動(dòng)作過程</p><p>　　機(jī)械手結(jié)構(gòu)如下圖1所示,有氣控機(jī)

3、械手(1)、XY軸絲杠組(2)、轉(zhuǎn)盤機(jī)構(gòu)(3)、旋轉(zhuǎn)基座(4)等組成。</p><p>　　圖2-1機(jī)械手結(jié)構(gòu)圖</p><p>　　其運(yùn)動(dòng)控制方式為：(1)由伺服電機(jī)驅(qū)動(dòng)可旋轉(zhuǎn)角度為360°的氣控機(jī)械手(有光電傳感器確定起始0點(diǎn));(2)由步進(jìn)電機(jī)驅(qū)動(dòng)絲杠組件使機(jī)械手沿X、Y軸移動(dòng)(有x、y軸限位開關(guān));(3)可回旋360°的轉(zhuǎn)盤機(jī)構(gòu)能帶動(dòng)機(jī)械手及絲杠組自由旋轉(zhuǎn)(其電

4、氣拖動(dòng)部分由直流電動(dòng)機(jī)、光電編碼器、接近開關(guān)等組成);(4)旋轉(zhuǎn)基座主要支撐以上3部分;(5)氣控機(jī)械手的張合由氣壓控制(充氣時(shí)機(jī)械手抓緊,放氣時(shí)機(jī)械手松開)。</p><p>　　其工作過程為：當(dāng)貨物到達(dá)時(shí),機(jī)械手系統(tǒng)開始動(dòng)作;步進(jìn)電機(jī)控制開始向下運(yùn)動(dòng),同時(shí)另一路步進(jìn)電機(jī)控制橫軸開始向前運(yùn)動(dòng);伺服電機(jī)驅(qū)動(dòng)機(jī)械手旋轉(zhuǎn)到達(dá)正好抓取貨物的方位處,然后充氣,機(jī)械手夾住貨物。</p><p>　　

5、步進(jìn)電機(jī)驅(qū)動(dòng)縱軸上升,另一個(gè)步進(jìn)電機(jī)驅(qū)動(dòng)橫軸開始向前走;轉(zhuǎn)盤直流電機(jī)轉(zhuǎn)動(dòng)使機(jī)械手整體運(yùn)動(dòng),轉(zhuǎn)到貨物接收處;步進(jìn)電機(jī)再次驅(qū)動(dòng)縱軸下降,到達(dá)指定位置后,氣閥放氣,機(jī)械手松開貨物;系統(tǒng)回位準(zhǔn)備下一次動(dòng)作。</p><p><b>　　3控制器件選型</b></p><p>　　為達(dá)到精確控制的目的,根據(jù)市場(chǎng)情況,對(duì)各種關(guān)鍵器件選型如下：</p><p&g

6、t;　　3.1步進(jìn)電機(jī)及其驅(qū)動(dòng)器</p><p>　　機(jī)械手縱軸(Y軸)和橫軸(X軸)選用的是北京四通電機(jī)技術(shù)有限公司的42BYG250C型兩相混合式步進(jìn)電機(jī),步距角為0.9°/1.8°,電流1.5A。M1是橫軸電機(jī),帶動(dòng)機(jī)械手機(jī)構(gòu)伸、縮;M2是縱軸電機(jī),帶動(dòng)機(jī)械手機(jī)構(gòu)上升、下降。所選用的步進(jìn)電機(jī)驅(qū)動(dòng)器是SH-20403型,該驅(qū)動(dòng)器采用10～40V直流供電,H橋雙極性恒相電流驅(qū)動(dòng),最大3A的8

7、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(hào)光電隔離,標(biāo)準(zhǔn)單脈沖接口,有脫機(jī)保持功能,半密閉式機(jī)殼可適應(yīng)更惡劣的工況環(huán)境,提供節(jié)能的自動(dòng)半電流方式。驅(qū)動(dòng)器內(nèi)部的開關(guān)電源設(shè)計(jì),保證了驅(qū)動(dòng)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(lái)說較高的額定電源電壓有利于提高電機(jī)的高速力矩,但卻會(huì)加大驅(qū)動(dòng)器的損耗和溫升。本驅(qū)動(dòng)器最大輸出電流值為3A/相(峰值),通過驅(qū)動(dòng)器面板上六位撥碼開關(guān)的第5、6、7，三位可

8、組合出8種狀態(tài),對(duì)應(yīng)8種輸出電流,從0.9A到3A以配合不同的電機(jī)使用。本驅(qū)動(dòng)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(yùn)行模式,利用驅(qū)動(dòng)器面板上六位撥碼開關(guān)的第1、2、3，三位可組合出不</p><p>　　3.2伺服電機(jī)及其驅(qū)動(dòng)器</p><p>　　機(jī)械手的旋轉(zhuǎn)動(dòng)作采用松下伺服電機(jī)A系列小慣量MSMA5AZA1G,其額定輸出50W、100/200V共用,

9、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(wú)制動(dòng)器,軸采用鍵槽連接。該電機(jī)采用松下公司獨(dú)特算法,使速度頻率響應(yīng)提高2倍,達(dá)到500Hz;定位超調(diào)整定時(shí)間縮短為以往松下伺服電機(jī)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(bǔ)機(jī)械的剛性不足,從而實(shí)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(jìn)一步提高系統(tǒng)精度。具有常規(guī)自動(dòng)增益調(diào)整和實(shí)時(shí)自動(dòng)增益調(diào)整兩種自動(dòng)

10、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(shí)控制多達(dá)16個(gè)軸。伺服電機(jī)驅(qū)動(dòng)器為A系列MSDA5A3A1A,適用于小慣量電動(dòng)機(jī)。</p><p><b>　　3.3直流電機(jī)</b></p><p>　　可回旋360°的轉(zhuǎn)盤機(jī)構(gòu)有直流無(wú)刷電機(jī)帶動(dòng),系統(tǒng)選用的是北京和時(shí)利公司生產(chǎn)的57BL1010H1無(wú)刷直流電機(jī),其調(diào)速范圍寬、低速力

11、矩大、運(yùn)行平穩(wěn)、低噪音、效率高。無(wú)刷直流電機(jī)驅(qū)動(dòng)器使用北京和時(shí)利公司生產(chǎn)的BL-0408驅(qū)動(dòng)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(hù),且有故障報(bào)警輸出、外部模擬量調(diào)速、制動(dòng)快速停機(jī)等特點(diǎn)。</p><p><b>　　3.4旋轉(zhuǎn)編碼器</b></p><p>　　在可回旋360°的轉(zhuǎn)盤機(jī)構(gòu)上,安裝有OMRON公司生產(chǎn)的E6A2增

12、量型旋轉(zhuǎn)編碼器,編碼器將信號(hào)傳給PLC,實(shí)現(xiàn)轉(zhuǎn)盤機(jī)構(gòu)的精確定位。</p><p>　　3.5.PLC的選型</p><p>　　根據(jù)系統(tǒng)的設(shè)計(jì)要求,選用OMRON公司生產(chǎn)的CPM2A小型機(jī)。CPM2A在一個(gè)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(shí)鐘功能等。CPM2A的CPU單元又是一個(gè)獨(dú)立單元,能處理廣泛的機(jī)械控制應(yīng)用問題,所以它是在設(shè)備內(nèi)用作內(nèi)裝控

13、制單元的理想產(chǎn)品。完整的通信功能保證了與個(gè)人計(jì)算機(jī)、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(dòng)簡(jiǎn)易機(jī)械手能方便的融合到工業(yè)控制系統(tǒng)中。</p><p><b>　　4軟件編程</b></p><p><b>　　4.1軟件流程圖</b></p><p>　　流程圖是PLC程序設(shè)計(jì)的基礎(chǔ)。只有設(shè)

14、計(jì)出流程圖,才可能順利而便捷地編寫出梯形圖并寫出語(yǔ)句表,最終完成程序的設(shè)計(jì)。所以寫出流程圖非常關(guān)鍵也是程序設(shè)計(jì)首先要做的任務(wù)。依據(jù)四軸聯(lián)動(dòng)簡(jiǎn)易機(jī)械手的控制要求,繪制流程圖如圖2所示。</p><p><b>　　圖4-1軟件流程圖</b></p><p><b>　　4.2程序部分</b></p><p>　　由于論文篇幅

15、有限,這里只列出了開始兩段程序,供讀者參閱,見圖3。</p><p><b>　　圖4-2程序列表</b></p><p><b>　　5結(jié)束語(yǔ)</b></p><p>　　四軸聯(lián)動(dòng)簡(jiǎn)易機(jī)械手的各個(gè)動(dòng)作和狀態(tài)都由PLC控制,不僅能滿足機(jī)械手的手動(dòng)、半自動(dòng)、自動(dòng)等操作方式所需的大量按扭、開關(guān)、位置檢測(cè)點(diǎn)的要求,更可通過接口元

16、器件與計(jì)算機(jī)組成PLC工業(yè)局域網(wǎng),實(shí)現(xiàn)網(wǎng)絡(luò)通信與網(wǎng)絡(luò)控制。使四軸聯(lián)動(dòng)簡(jiǎn)易機(jī)械手能方便地嵌入到工業(yè)生產(chǎn)流水線中。</p><p>　　Matters of the manipulator axial linkage simple structure and action process</p><p><b>　　Abstract</b></p><

17、p>　　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 calculat

18、ion 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 env

19、ironment, simple and cheap components, convenient maintenance and s</p><p>　　I.Matters of the manipulator axial linkage simple structure and action process</p><p>　　Manipulator structure, as sho

20、wn in figure 1 below have accused of manipulator (1), XY axis screw group (2), the turntable institutions (3), rotating base (4), etc.</p><p>　　Its motion control mode is: (1) can rotate by servomotor Angle

21、for 360° breath control manipulator (photoelectric sensor sure start 0 point); (2) by stepping motor drive screw component make along the X, Y manipulators move (have X, Y axis limit switches); (3) can rotates 360&#

22、176; 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 base main support above 3 parts

23、; (5) g</p><p>　　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

24、controller began to move exercise; Servo motor driver arrived just grab goods manipulators rotating the orientation of the place, then inflatable, manipulator clamped goods.</p><p>　　Vertical axis stepper mo

25、tor 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 a

26、gain, arrived at the designated location, Bleed valve, mechanical hand release the goods; system back to the place ready for the next action.</p><p>　　II. Control device selection </p><p>　　To a

27、chieve 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

28、 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

29、 the vertical axis motor driven manipulator rise and fall. The cho</p><p>　　5. PLC Selection According to the system design requirements, the choice of OMRON CPM2A produced minicomputer. CPM2A in a com

30、pact 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

31、 a wide range of application of mechanical control, it is built in the device control unit for the ideal product. Ensure the integrity of communicati</p><p>　　III. Software programming 1. Software flow char

32、t PLC programming flow chart is based. Only the design flow, it may be smooth and easy to prepare and write a statement form the ladder, and ultimately complete the process design. So write a flow chart of program d

33、esign is critical to the task first thing to do. Axis Manipulator based on simple control requirements, drawing flow chart shown in Figure 2. </p><p>　　2. Program part</p><p>　　Because space is

34、limited, here only paper listed the first two program segment for readers see.</p><p>　　IV. Conclusion</p><p>　　Axis simple robot state by the various movements and PLC control, the robot can no

35、t 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 P