电子凸轮取置机械手及其控制系统设计
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摘要
针对传统凸轮机械手中的凸轮机构易磨损、输出动作缺乏柔性且运动轨迹单一等问题,提出一种新型电子凸轮取置机械手的设计方案,同时搭建了电子凸轮控制系统软、硬件平台。其中,以机械手输出凸轮机构多项式运动规律为例,推导出伺服系统输出脉冲数与从动件运动规律之间的关系;利用PMsoft软件编写程序并输出电子凸轮曲线,该曲线符合预期的多项式运动规律。根据不同生产要求,该系统可以通过更改电子凸轮的参数设置来改变输出运动曲线。为机械手输出运动过程的柔性化、轨迹的多样化提供了设计方法和实例。
Aiming at the problems such as the easy wear of the cam mechanism in the traditional cam manipulator,the lack of flexibility in the output action and the single trajectory of the movement,a new design scheme for the electronic cam picking manipulator is proposed. Meantime,the software and hardware platform of the electronic cam control system is built. Among them,taking the polynomial motion law of the output cam mechanism as an example,the relationship between the output pulse number of the servo system and the movement law of the follower is deduced. Using PMsoft software to program and output the electronic cam curve,the curve conforms to the expected polynomial motion law. According to different production requirements,the system can change the output motion curve by changing the parameters setting of the electronic cam. It provides a design method and an example for the flexibility of the manipulator output motion process and the diversification of the trajectory.
Aiming at the problems such as the easy wear of the cam mechanism in the traditional cam manipulator,the lack of flexibility in the output action and the single trajectory of the movement,a new design scheme for the electronic cam picking manipulator is proposed. Meantime,the software and hardware platform of the electronic cam control system is built. Among them,taking the polynomial motion law of the output cam mechanism as an example,the relationship between the output pulse number of the servo system and the movement law of the follower is deduced. Using PMsoft software to program and output the electronic cam curve,the curve conforms to the expected polynomial motion law. According to different production requirements,the system can change the output motion curve by changing the parameters setting of the electronic cam. It provides a design method and an example for the flexibility of the manipulator output motion process and the diversification of the trajectory.
引文
[1]梁金生,曹巨江.提升转位机械手用的凸轮传动装置[J].轻工机械,2004(4):108-109.
[2] IKEGUCHI M. Method of controlling an electronic cam type rotary cutter,and method of producing an electronic cam curve:US6781339B1[P]. 2004-08-24.
[3]葛正浩,申娇娟,司贤永,等.双弧面凸轮式步进驱动型机械手的设计及仿真分析[J].食品与机械,2017,33(7):73-76.
[4]赵可,刘琼,童冠.双圆柱凸轮机械手设计及仿真[J].自动化技术与应用,2014,33(9):84-86.
[5]杨芙莲,杨妮,葛正浩,等.直动型弧面凸轮机械手的机构与结构设计[J].机械传动,2006,30(1):47-48.
[6]袁伟.新型凸轮式机械手[J].轻工机械,2012,30(6):75-76.
[7]陈德,杜义贤,汤伟毕,等.行程可调凸轮机械手的机构设计[J].自动化应用,2013(5):39-41.
[8]彭景阳,王文格.电子凸轮驱动多杆机构的轨迹规划方法研究[J].机械传动,2016,40(12):1-5.
[9]涂晓曼,邹俊忠,张见.基于伺服电动机的电子凸轮控制系统研究[J].微特电机,2015,43(1):70-72.
[10]高琨,张森林.基于PLC控制的电子凸轮系统设计[J].机电工程,2014,31(11):1419-1422.
[11]娄宇翔.基于PLC与伺服系统控制的电子凸轮应用研究[D].大连:大连理工大学,2014:10-14,47-49.
[12]黄文军.多伺服电机协同控制关键技术研究[D].上海:东华大学,2017:43-44.
[13]王安敏,鹿虎.基于C8051单片机的电子凸轮实现[J].机械传动,2010,34(10):84-87.
[14]强明辉,付雪松.电子凸轮技术在胶囊壳生产线中的应用研究[J].自动化与仪表,2017,32(5):57-61.
[15]中达电通股份有限公司. PMsoft使用说明手册[Z].上海:中达电通股份有限公司,2014:11-27.
[2] IKEGUCHI M. Method of controlling an electronic cam type rotary cutter,and method of producing an electronic cam curve:US6781339B1[P]. 2004-08-24.
[3]葛正浩,申娇娟,司贤永,等.双弧面凸轮式步进驱动型机械手的设计及仿真分析[J].食品与机械,2017,33(7):73-76.
[4]赵可,刘琼,童冠.双圆柱凸轮机械手设计及仿真[J].自动化技术与应用,2014,33(9):84-86.
[5]杨芙莲,杨妮,葛正浩,等.直动型弧面凸轮机械手的机构与结构设计[J].机械传动,2006,30(1):47-48.
[6]袁伟.新型凸轮式机械手[J].轻工机械,2012,30(6):75-76.
[7]陈德,杜义贤,汤伟毕,等.行程可调凸轮机械手的机构设计[J].自动化应用,2013(5):39-41.
[8]彭景阳,王文格.电子凸轮驱动多杆机构的轨迹规划方法研究[J].机械传动,2016,40(12):1-5.
[9]涂晓曼,邹俊忠,张见.基于伺服电动机的电子凸轮控制系统研究[J].微特电机,2015,43(1):70-72.
[10]高琨,张森林.基于PLC控制的电子凸轮系统设计[J].机电工程,2014,31(11):1419-1422.
[11]娄宇翔.基于PLC与伺服系统控制的电子凸轮应用研究[D].大连:大连理工大学,2014:10-14,47-49.
[12]黄文军.多伺服电机协同控制关键技术研究[D].上海:东华大学,2017:43-44.
[13]王安敏,鹿虎.基于C8051单片机的电子凸轮实现[J].机械传动,2010,34(10):84-87.
[14]强明辉,付雪松.电子凸轮技术在胶囊壳生产线中的应用研究[J].自动化与仪表,2017,32(5):57-61.
[15]中达电通股份有限公司. PMsoft使用说明手册[Z].上海:中达电通股份有限公司,2014:11-27.