Axis Simultaneous simple robot state by the various movements and PLC control, not only to meet the robot s manual, semi-automatic and automatic mode of operation required for such a large number of button, switch, position detection point requirements, but also through the interface components and PLC LAN computer component industry to achieve network communication and network control. To axis Simultaneous simple robot can be easily embedded into industrial production pipeline.
With the continuous progress of social production and people s accelerating pace of life, people are continuing to set new efficiency requirements. As the microelectronics and computing software and hardware technology and rapid development of modern control theory, continuous improvement, so that the rapid development of robot technology, including pneumatic manipulator media sources due to its simple and does not pollute the environment, components, low cost, easy maintenance and system safe and reliable, has penetrated all sectors of the industrial areas, in industrial development occupies an important position. This article describes a pneumatic manipulator pneumatic manipulator, XY axis screw group, turntable body, rotating base and other mechanical parts. Main role is to complete the mechanical components of the move, can be placed in a variety of production lines or the logistics pipeline to parts handling, transport of goods more efficient and convenient.
1. Axis Simultaneous simple manipulator structure and action process
manipulator as shown in Figure 1, a pneumatic manipulator (1), XY axis screw group (2), dial institutions (3), rotating base (4) and other components.
the motion control methods are: (1) can be rotated by a servo motor angle 360B0 air control manipulator (with optical sensor to determine the starting 0:00); (2) wire from the stepper motor driver manipulator along the bar component to X, Y axis (with x, y-axis limit switch); (3) can swing the wheel 360B0 institutions can drive the robot and the screw rotation group (the electric drag in part by the DC motors, optical encoders, proximity switches etc.); (4) rotating the main support base of more than 3 parts; (5) pneumatic manipulator controlled by air pressure and close them (when the robot grasp inflation, deflation when the mechanical hand release) .
the work process: When the goods arrived, began moving manipulator system; stepper motor control a downward motion, while the horizontal axis step motor control of another road began to move forward; servo motor drive rotary manipulator to reach just grab the goods location Office, and thenInflatable, mechanical goods, hand grip.
stepper motor drive up the vertical axis, the other horizontal axis stepper motor driver started to move forward; turntable DC motor rotation so that the whole robot motion, go to the cargo receiving area; stepper motor driven vertical drop again , arrived at the designated location, valves outgassing, mechanical hand release the goods; systems back to places ready for the next action.
the second control device selection
to achieve precise control purposes, according to market conditions, selection of the various key components are as follows:
1. stepper motor and drive
mechanical hand vertical axis (Y axis) and the horizontal axis (X axis) is chosen Motor Technology Co. Ltd. Beijing Stone 42BYG250C type two-phase hybrid stepping motor, step angle is 0.9B0/1.8 B0, current 1.5A. M1 is the horizontal axis motor, drive the robot body stretch, shrink; M2Is the vertical axis motor, drive the robot body up, down. The selected stepper motor drive is SH-20403 type, the drive uses 10 ~ 40V dc power supply, H bridge phase bipolar constant current drive, the largest of the eight kinds of 3A output current options, the largest segment of the seven kinds of fine 64 sub-mode optional input signal optical isolation, the standard single-pulse interface with offline capabilities to maintain semi-sealed enclosure can be adapted to more harsh environmental conditions, providing energy-saving automatic half-current mode. Drive the internal switching power supply design, to ensure the drive voltage can be adapted to a wide range of users according to their circumstances to choose between the 10 ~ 40VDC. In general the higher rated power supply voltage is beneficial to improve motor speed torque, but the drive will increase the loss and temperature rise. The drive output current value of 3A / phase (peak), through the drive panel DIP switch No. 6 5,6,7 3 out of 8 states can be combined, corresponding to eight kinds of output current from 0.9A to 3A to meet the different electrical use. The drive offers a whole step, half step improvement, subdivision 4, 8 segments, 16 segments, 32 segments and 64 sub-seven kinds of operating modes, use the drive panel of six DIP switches 1,2, 3 three different states can be combined.
2. servo motor and drive
mechanical hand rotation actionBy Panasonic servo motor A series of small inertia MSMA5AZA1G, the rated 50W, 100/200V share, rotary incremental encoder specification (pulses 2500p / r, resolution of 10000p / r, Lead 11 lines); a seal No brakes, shaft with keyway connections. The motor uses Panasonic s unique algorithm to increase by 2 times the speed of frequency response, to 500Hz; positioning over the past adjust the set time for the V Series Panasonic servo motors 1 / 4. Resonance suppression, control, closed loop control, can make up for lack of mechanical rigidity, in order to achieve high-speed positioning, but also by external high-precision grating, and constitute a closed loop control, further improve the system accuracy. With the conventional automatic gain adjustment and real-time automatic gain adjustment in the way of automatic gain adjustment, comes with RS-485, RS-232C communication port, to host controller can control up to 16 axes. Servo motor drive for the A series MSDA5A3A1A, for small inertia motor.