摆动式机械手机构运动与PLC控制的研究
摘要
机械手是在自动化生产过程中使用的一种具有抓取和移动工件功能的自动化装置,它是在机械自动化生产过程中发展起来的一种新型装置,在生产过程中起着非常重要的作用。机械手能代替人类完成危险、重复、枯燥的工作,减轻人类劳动强度,提高劳动生产力,因此机械手得到了越来越广泛的应用。
机械手自二十世纪六十年代初间世以来,经过40多年的发展,现在已经成为制造业生产自动化中重要的机电设备。目前,正式投入使用的绝大部分机械手属于第一代机械手,即程序控制机械手。这代机械手基本上采用点位控制系统,没有感觉外界环境信息的感觉器官,主要用于焊接、喷漆和上下料。第二代机械手具有感觉器官,仍然以程序控制为基础,但可以根据外界环境信息对控制程序进行校正。这代机械手通常采用接触传感器一类的简单传感装置和相应的适应性算法。
本文简要介绍了摆动式机床自动上下料机械手的概念,以及机械手的机构组成,电气控制原理,气动技术的特点,PLC控制的特点及国内外的发展状况,可以说是对机械手发展过程与目前生产实际的总结。
本文对摆动式机床自动上下料机械手进行了总体方案设计,确定了机械手的机构与运动形式,确定了机械手的各部分技术参数。同时,分别设计了机械手四个组成机构；计算出了带件运转时伺服电机所需的驱动力矩。
绘制了摆动式机床自动上下料机械手电气工作原理图,设计出了机械手的PLC控制系统。选取了合适的PLC与运动模块型号,利用可编程序控制器与运动控制模块对机械手进行运动控制,根据机械手的工作流程制定了可编程序控制器的控制方案,画出了机械手工作时的梯形图,并编制了可编程序控制器的控制程序,是目前现有设备的真实构造。
Manipulator is in automatic production process use a crawled and mobile workpiece function of automatic device, it is in the mechanical automation production process developed a kind of new type device, in the process of production plays a very important role. Robots can replace human consummately danger, repeat the boring work, ease human labor intensity and improve labor productivity, so robots have been applied more and more.
Manipulator since the beginning of the twentieth century since the advent of the sixties, after 40 years of development, manufacturing automation has now become an important mechanical and electrical equipment. Currently, the vast majority of officially put into use are the first generation of robotic manipulator, the robot process control. do not feel the external environment information, sense organs, mainly used for welding, painting, and loading and unloading. Second-generation robot with sensory organs, is still in process control, information about the external environment but can be corrected on the control program. This generation of robot using contact sensor is usually a class of simple sensing devices and the corresponding adaptive algorithm.
This paper introduces the swing Jichuang automatic loading and unloading robot concept, and the robot bodies, electrical control theory, pneumatic technology features, PLC control features and overseas development, can be said that the manipulator development process and the current Shengchan The actual summary.
This paper swing machine autotransmitting manipulator were general scheme design, determine the manipulator institutions and forms of exercise, determine the manipulator each part of technical parameters. Meanwhile, are designed respectively manipulator four components institution, Calculated the take a running servo motor drive torque required.
Mapped the swing machine autotransmitting manipulator electrical working principle diagram, the design gives the manipulator PLC control system. Select the proper motion module type PLC and, using the programmable controller and motion control module of manipulator on motion control, according to the working process of the manipulator has formulated of PLC control scheme and draw the manipulator job ladder diagram, and works out of PLC control procedures.
机械手自二十世纪六十年代初间世以来,经过40多年的发展,现在已经成为制造业生产自动化中重要的机电设备。目前,正式投入使用的绝大部分机械手属于第一代机械手,即程序控制机械手。这代机械手基本上采用点位控制系统,没有感觉外界环境信息的感觉器官,主要用于焊接、喷漆和上下料。第二代机械手具有感觉器官,仍然以程序控制为基础,但可以根据外界环境信息对控制程序进行校正。这代机械手通常采用接触传感器一类的简单传感装置和相应的适应性算法。
本文简要介绍了摆动式机床自动上下料机械手的概念,以及机械手的机构组成,电气控制原理,气动技术的特点,PLC控制的特点及国内外的发展状况,可以说是对机械手发展过程与目前生产实际的总结。
本文对摆动式机床自动上下料机械手进行了总体方案设计,确定了机械手的机构与运动形式,确定了机械手的各部分技术参数。同时,分别设计了机械手四个组成机构；计算出了带件运转时伺服电机所需的驱动力矩。
绘制了摆动式机床自动上下料机械手电气工作原理图,设计出了机械手的PLC控制系统。选取了合适的PLC与运动模块型号,利用可编程序控制器与运动控制模块对机械手进行运动控制,根据机械手的工作流程制定了可编程序控制器的控制方案,画出了机械手工作时的梯形图,并编制了可编程序控制器的控制程序,是目前现有设备的真实构造。
Manipulator is in automatic production process use a crawled and mobile workpiece function of automatic device, it is in the mechanical automation production process developed a kind of new type device, in the process of production plays a very important role. Robots can replace human consummately danger, repeat the boring work, ease human labor intensity and improve labor productivity, so robots have been applied more and more.
Manipulator since the beginning of the twentieth century since the advent of the sixties, after 40 years of development, manufacturing automation has now become an important mechanical and electrical equipment. Currently, the vast majority of officially put into use are the first generation of robotic manipulator, the robot process control. do not feel the external environment information, sense organs, mainly used for welding, painting, and loading and unloading. Second-generation robot with sensory organs, is still in process control, information about the external environment but can be corrected on the control program. This generation of robot using contact sensor is usually a class of simple sensing devices and the corresponding adaptive algorithm.
This paper introduces the swing Jichuang automatic loading and unloading robot concept, and the robot bodies, electrical control theory, pneumatic technology features, PLC control features and overseas development, can be said that the manipulator development process and the current Shengchan The actual summary.
This paper swing machine autotransmitting manipulator were general scheme design, determine the manipulator institutions and forms of exercise, determine the manipulator each part of technical parameters. Meanwhile, are designed respectively manipulator four components institution, Calculated the take a running servo motor drive torque required.
Mapped the swing machine autotransmitting manipulator electrical working principle diagram, the design gives the manipulator PLC control system. Select the proper motion module type PLC and, using the programmable controller and motion control module of manipulator on motion control, according to the working process of the manipulator has formulated of PLC control scheme and draw the manipulator job ladder diagram, and works out of PLC control procedures.
引文
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[16]周新建.程安宁.土小伟.采煤机液压制动器的改进设计.润滑与密封.2003.
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[22]夸克工作室.精通Pro/Engineer ACD(入门篇).北京：中国青年出版社,2000.
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[25]龚曙光ANSYS基础应用及范例解析.北京：机械工业出版社,2004.
[26]饶寿朋.有限元法和边界元法基础.北京：北航出版社,1990.
[27]郝文化.ANSYS7.0实例分析与应用.北京：清华大学出版社,2004.
[28]邵蕴秋.ANSYS8.0有限元分析实例导航.北京：中国铁道出版社,2004.
[29]刘涛,杨凤鹏.精通ANSYS北京：清华大学出版社,2002.
[30]许尚贤.机械设计中的有限元法.北京：机械工业出版社,1992.
[31]宋勇,艾宴清,梁波等.精通ANSYS7.0有限元分析.北京清华大学出版社,2004.
[32]陈小悦.鼓式制动器低频振颤的研究.北京：清华大学出版社,1998.
[33]博奕创作室.ANSYS7.0基础教程与实例详解.北京：中国水利电力出版社,2003.
[34]Kusano Metal.Experimental study on the reduction of drum brake noise SAE85—1465,1985.
[35]王涛,朱文坚.摩擦制动器—原理、结构与设计.南京：华南理工大学出版社,1992.
[36]SinghR,Sheikh A,etal. Viscoelastic damping to control disc brake squeal.Sound and Vibration, 1998:18-22.
[37]Sydney CxRoberts and TerryD.Day. Integrating Design and Virtual Test Environments for Brake Component Design and Material Selection. SAE:2000.
[38]廖常初.S7—200PLC编程及应用.北京：机械工业出版社,2002.
[39]胡敏.深入浅出西门子S7—200.北京：北京航空航天出版社,2002.
[40]S7—200可编程控制器系统手册.北京：北京理工大学出版社,2003.
[41]毛征宇,胡燕平.防爆液压提升机提升速度的电液比例控制系统.矿山机械,2001,14(6)：26-30.
[42]高建臣.高速电磁开关阀应用基础研究.北京理工大学出版社,1990.
[43]田静.高速开关阀PWM控制电路的开发.中国民航学院学报,2003,21(6)：26-30.
[44]江永泉,秦大同,杨亚联,杨阳.基于高速开关阀控制的液压制动伺服系统研制.重庆大学学报(自然科学版),2005,28(12)：19-22.
[45]Nico A. Kelling and Patrick Leteinturier X-by-Wire:Opportunities,Challenges and Trends SAE-0113，2003.
[46]Cz.B.Stroh, M.H.Lawrence,W.T.Deibel.Effect of Shoe Force Geometry on Heavy Duty Intenal Shoe Brake Performance:SAE,680432.
[47]冻宝江,杨树兴,曹泛.PWM高速开关阀特性分析.北京理工大学学报,1993,13(3)：354-360.
[48]林蹬,黄方平AMESim/Matlab的仿真及其在单向阀优化设计中的应用.液压气动与密封,2006：15-16.
[49]陈宏亮,李华聪.基于AMESim-MATLAB/Simulink联合仿真技术的电液伺服系统减振研究.机床与液压,2006：121-123.
[50]薛定宇,陈阳泉.基于MATLAB/Simulink的系统仿真技术与应用.北京：清华大学出版社,2002.
[2]王进全.关于我国石油钻机技术的现状及其研发思考.石油机械,2006,34(1)：7-11.
[3]高向前,齐明侠,张作龙J10APS25型通井机盘式刹车的设计与研制.石油大学学报,1995,19(1)：56-60.
[4]Wharrtan C.New brake dics is successfull tested.Drilling Contractor.2002.
[5]史玉升.盘式刹车自动送钻技术.石油机械,1999.
[6]王慕文,土晓瑜,付强等.盘式制动器的性能分析及应用.冶金设备.2003.2.
[7]李仪钰,矿山提升运输机械,北京：冶金工业出版社,1989.
[8]周永霞,译.液控盘式刹车.国外石油机械,1997,8(2)：13-14.
[9]夏荣海,郝玉琛.矿井提升机械设备.徐州：中国矿业学院出版社,1987.
[10]高向前,齐明侠,李继志.2000米钻机液控盘式刹车的设计.石油机械,1993,21(5)：11-216.
[11]机械设计编委会.机械设计手册.北京：机械工业出版社,2003,3-24.
[12]王文斌.机械设计手册.北京：机械工业出版社,2007：7-25.
[13]石志刚.国外汽车摩擦材料工业的新进展.非金属矿.2001,24(2)：35-36
[14]王志刚,郝玉深.提升机盘式闸制动摩擦特性研究.矿山机械,1989,3：35-39.
[15]郝玉峰,华小洋.制动器试验方法.起重运输机械.2002.
[16]周新建.程安宁.土小伟.采煤机液压制动器的改进设计.润滑与密封.2003.
[17]Millner N.A analysis of disc brake squeal.SAE780332,1978.
[18]吕刚译.用于修井机绞车的盘式刹车.国外石油机械,1992.3(2)：59-64.
[19]彭万波,张云静,张然Pro/Engineer 2001实例精解.北京：清华大学出版,2002.
[20]老虎工作室PRO/ENGINEER2001中文版基础教程.北京：人民邮电出版社,2003.
[21]刘刚,刘作成Pro/Engineer2000基础与实例教程.北京：北京电子希望出版社,2002.
[22]夸克工作室.精通Pro/Engineer ACD(入门篇).北京：中国青年出版社,2000.
[23]黄圣杰,张益三.实战Pro/Engineer 2001基础入门.北京：中国铁道出版社,2002.
[24]WangChuanfa.A Variable Parameter Sqveeze Oil Film Dampre,Transactions Of Nan Jing University Of Aeronavtecs&Astronavtics,1994.01.
[25]龚曙光ANSYS基础应用及范例解析.北京：机械工业出版社,2004.
[26]饶寿朋.有限元法和边界元法基础.北京：北航出版社,1990.
[27]郝文化.ANSYS7.0实例分析与应用.北京：清华大学出版社,2004.
[28]邵蕴秋.ANSYS8.0有限元分析实例导航.北京：中国铁道出版社,2004.
[29]刘涛,杨凤鹏.精通ANSYS北京：清华大学出版社,2002.
[30]许尚贤.机械设计中的有限元法.北京：机械工业出版社,1992.
[31]宋勇,艾宴清,梁波等.精通ANSYS7.0有限元分析.北京清华大学出版社,2004.
[32]陈小悦.鼓式制动器低频振颤的研究.北京：清华大学出版社,1998.
[33]博奕创作室.ANSYS7.0基础教程与实例详解.北京：中国水利电力出版社,2003.
[34]Kusano Metal.Experimental study on the reduction of drum brake noise SAE85—1465,1985.
[35]王涛,朱文坚.摩擦制动器—原理、结构与设计.南京：华南理工大学出版社,1992.
[36]SinghR,Sheikh A,etal. Viscoelastic damping to control disc brake squeal.Sound and Vibration, 1998:18-22.
[37]Sydney CxRoberts and TerryD.Day. Integrating Design and Virtual Test Environments for Brake Component Design and Material Selection. SAE:2000.
[38]廖常初.S7—200PLC编程及应用.北京：机械工业出版社,2002.
[39]胡敏.深入浅出西门子S7—200.北京：北京航空航天出版社,2002.
[40]S7—200可编程控制器系统手册.北京：北京理工大学出版社,2003.
[41]毛征宇,胡燕平.防爆液压提升机提升速度的电液比例控制系统.矿山机械,2001,14(6)：26-30.
[42]高建臣.高速电磁开关阀应用基础研究.北京理工大学出版社,1990.
[43]田静.高速开关阀PWM控制电路的开发.中国民航学院学报,2003,21(6)：26-30.
[44]江永泉,秦大同,杨亚联,杨阳.基于高速开关阀控制的液压制动伺服系统研制.重庆大学学报(自然科学版),2005,28(12)：19-22.
[45]Nico A. Kelling and Patrick Leteinturier X-by-Wire:Opportunities,Challenges and Trends SAE-0113，2003.
[46]Cz.B.Stroh, M.H.Lawrence,W.T.Deibel.Effect of Shoe Force Geometry on Heavy Duty Intenal Shoe Brake Performance:SAE,680432.
[47]冻宝江,杨树兴,曹泛.PWM高速开关阀特性分析.北京理工大学学报,1993,13(3)：354-360.
[48]林蹬,黄方平AMESim/Matlab的仿真及其在单向阀优化设计中的应用.液压气动与密封,2006：15-16.
[49]陈宏亮,李华聪.基于AMESim-MATLAB/Simulink联合仿真技术的电液伺服系统减振研究.机床与液压,2006：121-123.
[50]薛定宇,陈阳泉.基于MATLAB/Simulink的系统仿真技术与应用.北京：清华大学出版社,2002.