简易机械手及控制外文文献翻译机械手类中英翻译外文翻译Word文档格式.docx

简易机械手及控制外文文献翻译机械手类中英翻译外文翻译Word文档格式.docx

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SimpleManipulatorAndTheControlOfIt

Alongwiththesocialproductionprogressandpeopleliferhythmisaccelerating,peopleonproductionefficiencyalsocontinuouslyputforwardnewrequirements.Becauseofmicroelectronicstechnologyandcalculationsoftwareandhardwaretechnologyrapiddevelopmentandmoderncontroltheory,theperfectionofthefastdevelopment,therobottechnologypneumaticmanipulatorsystembecauseitsmediasourcesdonotpollutetheenvironment,simpleandcheapcomponents,convenientmaintenanceandsystemsafetyandreliabilitycharacteristic,haspenetratedintoeverysectoroftheindustrialfield,intheindustrialdevelopmentplaysanimportantrole.Thisarticletellsofthepneumaticcontrolrobots,furiousmanipulatorXYaxisscrewgroup,theturntableinstitutions,rotatingmechanicalpartsbase.Maineffectiscompletemechanicalcomponentshandlingwork,tobeplacedindifferentkindsoflineorlogisticspipeline,makepartshandling,transportofgoodsmorequickandconvenient.

Mattersofthemanipulatoraxiallinkagesimplestructureandactionprocess

Manipulatorstructure,asshowninfigure1belowhaveaccusedofmanipulator

（1）,XYaxisscrewgroup

（2）,theturntableinstitutions（3）,rotatingbase（4）,etc.

Figure1ManipulatorStructure

Itsmotioncontrolmodeis:

（1）canrotatebyservomotorAnglefor360°

breathcontrolmanipulator（photoelectricsensorsurestart0point）;

（2）bysteppingmotordrivescrewcomponentmakealongtheX,Ymanipulatorsmove（haveX,Yaxislimitswitches）;

（3）canrotates360°

candrivetheturntableinstitutionsmanipulatorsandbushingsfreerotation（itselectricdraginpartbythedcmotivation,photoelectricencoder,closetoswitchetc）;

（4）rotatingbasemainsupportabove3parts;

（5）gascontrolmanipulatorbypressurecontrol（Zhangclosewhenpressedon,putinflatablerobotmanipulatorsloosen）whengas.

Itsworkingprocessfor:

whenthegoodsarrived,manipulatorsystembeginstomove;

Steppingmotorcontrol,whiletheotherstartdownwardmotionalongthehorizontalaxisofthestep-motorcontrollerbegantomoveexercise;

Servomotordriverarrivedjustgrabgoodsmanipulatorsrotatingtheorientationoftheplace,theninflatable,manipulatorclampedgoods.

Verticalaxissteppermotordriveup,theotherhorizontalaxissteppermotordriverstartedtomoveforward;

rotaryDCmotorrotationsothatthewholerobotmotion,gotothecargoreceivingarea;

longitudinalaxissteppermotordrivendownagain,arrivedatthedesignatedlocation,Bleedvalve,mechanicalhandreleasethegoods;

systembacktotheplacereadyforthenextaction.

II.Devicecontrol

Toachieveprecisecontrolpurposes,accordingtomarketconditions,selectionofavarietyofkey

componentsasfollows:

1.Steppermotoranddrive

Mechanicalhandverticalaxis（Yaxis）andhorizontal（Xaxis）ischosenMotorTechnologyCo.,Ltd.BeijingStone42BYG250Ctypeoftwo-phasehybridsteppingmotor,stepangleof0.9°

/1.8°

currentis1.5A.M1isthehorizontalaxismotordrivenmanipulatorstretch,shrink;

M2istheverticalaxismotordrivenmanipulatorriseandfall.ThechoiceofsteppermotordriveisSH-20403type,thedriveuses10~40VDCpowersupply,H-phasebridgebipolarconstantcurrentdrive,themaximumoutputcurrentof3Aofthe8optional,maximumfineof64segmentsof7sub-modeoptionalopticalisolation,standardsingle-pulseinterface,withofflinecapabilitiestomaintainsemi-sealedenclosurecanbeadaptedtoenvironmentalconditionsevenworse,providesemi-currentenergy-savingmodeautomatically.Drivetheinternalswitchingpowersupplydesigntoensurethatthedrivecanbeadaptedtoawidevoltagerange,theusercanaccordingtotheircircumstancestochoosebetweenthe10~40VDC.Generallythehigherratedpowersupplyvoltagecanimprovehigh-speedtorquemotor,butthedrivewillincreasethelossandtemperaturerise.Themaximumoutputdrivecurrentis3A/phase（peak）,sixdrive-panelDIPswitchonthefirstthreecanbecombined5,6,78outofstate,correspondingtothe8kindsofoutputcurrentfrom0.9Ato3Atomeetthedifferentmotors.Thedrivecanprovidefullstep,halfstepimprovement,subdivision4,8segments,16segments,32segmentsand64segmentsof7operatingmodes.TheuseofsixofthedrivepanelDIPswitches1,2and3canbecombinedfromthreedifferentstates.

2.Servomotorsanddrives

ManipulatorwithPanasonicservomotorrotationalmovementAseriesofsmallinertiaMSMA5AZA1G,therated50W,100/200Vshare,rotaryincrementalencoderspecifications（numberofpulses2500p/r,resolutionof10000p/r,Lead11lines）;

aseal,nobrakes,shaftwithkeywayconnections.ThemotorusesPanasonic'

suniquealgorithms,therateincreasedby2timesthefrequencyresponse,to500Hz;

positioningoverthepa