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外文文献原文：
Simple Manipulator And The Control Of It
Along with the social production progress and people life rhythm is accelerating, people on production efficiency also continuously put forward new requirements. Becau 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 becau its media sources do not pollute the environment, simple and cheap components, convenient maintenance and system safety and reliability characteristic, has penetrated into every ctor 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 ba. Main effect is complete mechanical components handling work, to be placed in different kinds of line or logistics pipeline, make parts handling, transport of go
ods more quick and convenient.写请假条的格式
Matters of the manipulator axial linkage simple structure and action process
Manipulator structure, as shown in figure 1 below have accud of manipulator (1), XY axis screw group (2), the turntable institutions (3), rotating ba (4), etc.
Figure 1 Manipulator Structure
仙人指路k线Its motion control mode is: (1) can rotate by rvomotor Angle for 360 ° breath control ma
nipulator (photoelectric nsor 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 ° can drive the turntable institutions manipulators and bushings free rotation (its electric drag in part by the dc motivation, photoelectric encoder, clo to switch etc); (4) rotating ba main support above 3 parts; (5) gas control manipulator by pressure control (Zhang clo when presd on, put inflatable robot manipulators loon) when gas.社会哲学
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 exerci; Servo motor driver arrived just grab goods manipulators rotating the orientation of the place, then inflatable, manipulator clamped goods.
小溪流说话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
咏诗receiving area; longitudinal axis stepper motor driven down again, arrived at the designated location, Bleed valve, mechanical hand relea the goods; system back to the place ready for the next action.
II.Device control
To achieve preci control purpos, according to market conditions, lection of a variety of key
components as follows:
1. Stepper motor and drive
Mechanical hand vertical axis (Y axis) and horizontal (X axis) is chon Motor Technology Co., Ltd. Beijing Stone 42BYG250C type of two-pha 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 ri and fall. The choice of stepper motor drive is SH-20403 type, the drive us 10 ~ 40V DC power supply, H-pha bridge bipolar constant current drive, the maximum output current of 3A
of the 8 optional, maximum fine of 64 gments of 7 sub-mode optional optical isolation, standard single-pul interface, with offline capabilities to maintain mi-aled enclosure can be adapted to environmental conditions even wor, provide mi-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 ur can according to their circumstances to choo between the 10 ~ 40VDC. Generally the higher rated power supply voltage can improve high-speed torque motor, but the drive will increa the loss and temperature ri. The maximum output drive current is 3A / pha (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 gments, 16 gments, 32 gments and 64 gments of 7 operating modes. The u of six of the drive panel DIP switches 1,2and3 can be combined from three different states.
2. Servo motors and drives 创业培训班
Manipulator with Panasonic rvo motor rotational movement A ries of small inertia M倒立能减肥吗
SMA5AZA1G, the rated 50W, 100/200V share, rotary incremental encoder specifications (number of puls 2500p / r, resolution of 10000p / r, Lead 11 lines) ; a al, no brakes, shaft with keyway connections. The motor us Panasonic's unique algorithms, the rate incread by 2 times the frequency respon, to 500Hz; positioning over the past adjust the scheduled time by Panasonic rvo motor products for the V Series of 1 / 4. With the resonance suppression, control, clod 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 clod 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 ries MSDA5A3A1A, applicable to small inertia motor.
3. DC machine
360 ° swing of the turntable can be a brushless DC motor driven organization, the system is chon when the profit company in Beijing and the 57BL1010H1 brushless DC 女性血瘀怎么调理
motor, its speed range, low-speed torque, smooth running, low noi, high efficiency. Brushless DC motor drive using the Beijing and when Lee's BL-0408 produced by the drive, which us 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.
4. Rotary encoder
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 preci positioning of rotary bodies.
