爬桿作業(yè)機器人設計-攀爬、爬樹機器人含10張CAD圖,作業(yè),功課,機器人,設計,攀爬,爬樹,10,cad 四軸聯(lián)動簡易機械手 1緒論 隨著社會生產不斷進步和人們生活節(jié)奏不斷加快,人們對生產效率也不斷提出新要求。由于微電子技術和計算軟、硬件技術的迅猛發(fā)展和現(xiàn)代控制理論的不斷完善,使機械手技術快速發(fā)展,其中氣動機械手系統(tǒng)由于其介質來源簡便以及不污染環(huán)境、組件價格低廉、維修方便和系統(tǒng)安全可靠等特點,已滲透到工業(yè)領域的各個部門,在工業(yè)發(fā)展中占有重要地位。本文講述的氣動機械手有氣控機械手、XY軸絲杠組、轉盤機構、旋轉基座等機械部分組成。主要作用是完成機械部件的搬運工作,能放置在各種不同的生產線或物流流水線中,使零件搬運、貨物運輸更快捷、便利。 2四軸聯(lián)動簡易機械手的結構及動作過程 機械手結構如下圖1所示,有氣控機械手(1)、XY軸絲杠組(2)、轉盤機構(3)、旋轉基座(4)等組成。 圖2-1機械手結構圖 其運動控制方式為：(1)由伺服電機驅動可旋轉角度為360°的氣控機械手(有光電傳感器確定起始0點);(2)由步進電機驅動絲杠組件使機械手沿X、Y軸移動(有x、y軸限位開關);(3)可回旋360°的轉盤機構能帶動機械手及絲杠組自由旋轉(其電氣拖動部分由直流電動機、光電編碼器、接近開關等組成);(4)旋轉基座主要支撐以上3部分;(5)氣控機械手的張合由氣壓控制(充氣時機械手抓緊,放氣時機械手松開)。 其工作過程為：當貨物到達時,機械手系統(tǒng)開始動作;步進電機控制開始向下運動,同時另一路步進電機控制橫軸開始向前運動;伺服電機驅動機械手旋轉到達正好抓取貨物的方位處,然后充氣,機械手夾住貨物。 步進電機驅動縱軸上升,另一個步進電機驅動橫軸開始向前走;轉盤直流電機轉動使機械手整體運動,轉到貨物接收處;步進電機再次驅動縱軸下降,到達指定位置后,氣閥放氣,機械手松開貨物;系統(tǒng)回位準備下一次動作。 3控制器件選型 為達到精確控制的目的,根據市場情況,對各種關鍵器件選型如下： 3.1步進電機及其驅動器 機械手縱軸(Y軸)和橫軸(X軸)選用的是北京四通電機技術有限公司的42BYG250C型兩相混合式步進電機,步距角為0.9°/1.8°,電流1.5A。M1是橫軸電機,帶動機械手機構伸、縮;M2是縱軸電機,帶動機械手機構上升、下降。所選用的步進電機驅動器是SH-20403型,該驅動器采用10～40V直流供電,H橋雙極性恒相電流驅動,最大3A的8種輸出電流可選,最大64細分的7種細分模式可選,輸入信號光電隔離,標準單脈沖接口,有脫機保持功能,半密閉式機殼可適應更惡劣的工況環(huán)境,提供節(jié)能的自動半電流方式。驅動器內部的開關電源設計,保證了驅動器可適應較寬的電壓范圍,用戶可根據各自情況在10～40VDC之間選擇。一般來說較高的額定電源電壓有利于提高電機的高速力矩,但卻會加大驅動器的損耗和溫升。本驅動器最大輸出電流值為3A/相(峰值),通過驅動器面板上六位撥碼開關的第5、6、7，三位可組合出8種狀態(tài),對應8種輸出電流,從0.9A到3A以配合不同的電機使用。本驅動器可提供整步、改善半步、4細分、8細分、16細分、32細分和64細分7種運行模式,利用驅動器面板上六位撥碼開關的第1、2、3，三位可組合出不同的狀態(tài)。 3.2伺服電機及其驅動器 機械手的旋轉動作采用松下伺服電機A系列小慣量MSMA5AZA1G,其額定輸出50W、100/200V共用,旋轉編碼器規(guī)格為增量式(脈沖數2500p/r、分辨率10000p/r、引出線11線);有油封,無制動器,軸采用鍵槽連接。該電機采用松下公司獨特算法,使速度頻率響應提高2倍,達到500Hz;定位超調整定時間縮短為以往松下伺服電機產品V系列的1/4。具有共振抑制功能、控制功能、全閉環(huán)控制功能,可彌補機械的剛性不足,從而實現(xiàn)高速定位,也可通過外接高精度的光柵尺,構成全閉環(huán)控制,進一步提高系統(tǒng)精度。具有常規(guī)自動增益調整和實時自動增益調整兩種自動增益調整方式,還配有RS-485、RS-232C通信口,使上位控制器可同時控制多達16個軸。伺服電機驅動器為A系列MSDA5A3A1A,適用于小慣量電動機。 3.3直流電機 可回旋360°的轉盤機構有直流無刷電機帶動,系統(tǒng)選用的是北京和時利公司生產的57BL1010H1無刷直流電機,其調速范圍寬、低速力矩大、運行平穩(wěn)、低噪音、效率高。無刷直流電機驅動器使用北京和時利公司生產的BL-0408驅動器,其采用24～48V直流供電,有起停及轉向控制、過流、過壓及堵轉保護,且有故障報警輸出、外部模擬量調速、制動快速停機等特點。 3.4旋轉編碼器 在可回旋360°的轉盤機構上,安裝有OMRON公司生產的E6A2增量型旋轉編碼器,編碼器將信號傳給PLC,實現(xiàn)轉盤機構的精確定位。 3.5.PLC的選型 根據系統(tǒng)的設計要求,選用OMRON公司生產的CPM2A小型機。CPM2A在一個小巧的單元內綜合有各種性能,包括同步脈沖控制、中斷輸入、脈沖輸出、模擬量設定和時鐘功能等。CPM2A的CPU單元又是一個獨立單元,能處理廣泛的機械控制應用問題,所以它是在設備內用作內裝控制單元的理想產品。完整的通信功能保證了與個人計算機、其它OMRON PC和OMRON可編程終端的通信。這些通信能力使四軸聯(lián)動簡易機械手能方便的融合到工業(yè)控制系統(tǒng)中。 4軟件編程 4.1軟件流程圖 流程圖是PLC程序設計的基礎。只有設計出流程圖,才可能順利而便捷地編寫出梯形圖并寫出語句表,最終完成程序的設計。所以寫出流程圖非常關鍵也是程序設計首先要做的任務。依據四軸聯(lián)動簡易機械手的控制要求,繪制流程圖如圖2所示。 圖4-1軟件流程圖 4.2程序部分 由于論文篇幅有限,這里只列出了開始兩段程序,供讀者參閱,見圖3。 圖4-2程序列表 5結束語 四軸聯(lián)動簡易機械手的各個動作和狀態(tài)都由PLC控制,不僅能滿足機械手的手動、半自動、自動等操作方式所需的大量按扭、開關、位置檢測點的要求,更可通過接口元器件與計算機組成PLC工業(yè)局域網,實現(xiàn)網絡通信與網絡控制。使四軸聯(lián)動簡易機械手能方便地嵌入到工業(yè)生產流水線中。 Matters of the manipulator axial linkage simple structure and action process Abstract Along with the social production progress and people life rhythm is accelerating, people on production efficiency also continuously put forward new requirements. Because 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 because its media sources do not pollute the environment, simple and cheap components, convenient maintenance and system safety and reliability characteristic, has penetrated into every sector 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 base. Main effect is complete mechanical components handling work, to be placed in different kinds of line or logistics pipeline, make parts handling, transport of goods more quick and convenient. I.Matters of the manipulator axial linkage simple structure and action process Manipulator structure, as shown in figure 1 below have accused of manipulator (1), XY axis screw group (2), the turntable institutions (3), rotating base (4), etc. Its motion control mode is: (1) can rotate by servomotor Angle for 360° breath control manipulator (photoelectric sensor 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, close to switch etc); (4) rotating base main support above 3 parts; (5) gas control manipulator by pressure control (Zhang close when pressed on, put inflatable robot manipulators loosen) when gas. 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 exercise; Servo motor driver arrived just grab goods manipulators rotating the orientation of the place, then inflatable, manipulator clamped goods. 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 receiving area; longitudinal axis stepper motor driven down again, arrived at the designated location, Bleed valve, mechanical hand release the goods; system back to the place ready for the next action. II. Control device selection To achieve precise control purposes, according to market conditions, selection of a variety of key components as follows: 1. Stepper motor and drive Mechanical hand vertical axis (Y axis) and horizontal (X axis) is chosen Motor Technology Co., Ltd. Beijing Stone 42BYG250C type of two-phase 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 rise and fall. The choice of stepper motor drive is SH-20403 type, the drive uses 10 ~ 40V DC power supply, H-phase bridge bipolar constant current drive, the maximum output current of 3A of the 8 optional, maximum fine of 64 segments of 7 sub-mode optional optical isolation, standard single-pulse interface, with offline capabilities to maintain semi-sealed enclosure can be adapted to environmental conditions even worse, provide semi-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 user can according to their circumstances to choose between the 10 ~ 40VDC. Generally the higher rated power supply voltage can improve high-speed torque motor, but the drive will increase the loss and temperature rise. The maximum output drive current is 3A / phase (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 segments, 16 segments, 32 segments and 64 segments of 7 operating modes. The use of six of the drive panel DIP switches 1,2and3 can be combined from three different states. 2. Servo motors and drives Manipulator with Panasonic servo motor rotational movement A series of small inertia MSMA5AZA1G, the rated 50W, 100/200V share, rotary incremental encoder specifications (number of pulses 2500p / r, resolution of 10000p / r, Lead 11 lines) ; a seal, no brakes, shaft with keyway connections. The motor uses Panasonic's unique algorithms, the rate increased by 2 times the frequency response, to 500Hz; positioning over the past adjust the scheduled time by Panasonic servo motor products for the V Series of 1 / 4. With the resonance suppression, control, closed 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 closed 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 series 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 chosen when the profit company in Beijing and the 57BL1010H1 brushless DC motor, its speed range, low-speed torque, smooth running, low noise, high efficiency. Brushless DC motor drive using the Beijing and when Lee's BL-0408 produced by the drive, which uses 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 precise positioning of rotary bodies. 5. PLC Selection According to the system design requirements, the choice of OMRON CPM2A produced minicomputer. CPM2A in a compact unit integrated with a variety of properties, including the synchronization pulse control, interrupt input, pulse output, analog set and clock functions. CPM2A the CPU unit is a stand-alone unit, capable of handling a wide range of application of mechanical control, it is built in the device control unit for the ideal product. Ensure the integrity of communications and personal computers, other OMRON PC and OMRON Programmable Terminal communication. The communication capability allows the robot to Axis simple easy integration into industrial control systems. III. Software programming 1. Software flow chart PLC programming flow chart is based. Only the design flow, it may be smooth and easy to prepare and write a statement form the ladder, and ultimately complete the process design. So write a flow chart of program design is critical to the task first thing to do. Axis Manipulator based on simple control requirements, drawing flow chart shown in Figure 2. 2. Program part Because space is limited, here only paper listed the first two program segment for readers see. IV. Conclusion Axis simple robot state by the various movements and PLC control, the robot can not only meet the manual, semi-automatic mode of operation required for such a large number of buttons, switches, position detection point requirements, but also through the interface components and Computer Organization PLC industrial LAN, network communication and network control. Axis simple robot can be easily embedded into industrial production pipeline.