外文翻譯--簡(jiǎn)易機(jī)械手及控制

附錄 外文文獻(xiàn)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. 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. 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. Figure 1 Manipulator Structure 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.Device control 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 Panasonics 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 Lees 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. Figure 2 Software flow chart 2. Program part Because space is limited, here only paper listed the first two program segment for readers see. Figure 3 Program part 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. 中文譯文： 簡(jiǎn)易機(jī)械手及控制 隨著社會(huì)生產(chǎn) 不斷進(jìn)步和人們生活節(jié)奏不斷加快 ,人們對(duì)生產(chǎn)效率也不斷提出新要求。由于微電子技術(shù)和計(jì)算軟、硬件技術(shù)的迅猛發(fā)展和現(xiàn)代控制理論的不斷完善 ,使機(jī)械手技術(shù)快速發(fā)展 ,其中氣動(dòng)機(jī)械手系統(tǒng)由于其介質(zhì)來(lái)源簡(jiǎn)便以及不污染環(huán)境、組件價(jià)格低廉、維修方便和系統(tǒng)安全可靠等特點(diǎn) ,已滲透到工業(yè)領(lǐng)域的各個(gè)部門(mén) ,在工業(yè)發(fā)展中占有重要地位。本文講述的氣動(dòng)機(jī)械手有氣控機(jī)械手、 XY 軸絲杠組、轉(zhuǎn)盤(pán)機(jī)構(gòu)、旋轉(zhuǎn)基座等機(jī)械部分組成。主要作用是完成機(jī)械部件的搬運(yùn)工作 ,能放置在各種不同的生產(chǎn)線或物流流水線中 ,使零件搬運(yùn)、貨物運(yùn)輸更快捷、便利。 一 .四軸聯(lián)動(dòng)簡(jiǎn)易 機(jī)械手的結(jié)構(gòu)及動(dòng)作過(guò)程 機(jī)械手結(jié)構(gòu)如下圖 1所示 ,有氣控機(jī)械手 (1)、 XY軸絲杠組 (2)、轉(zhuǎn)盤(pán)機(jī)構(gòu) (3)、旋轉(zhuǎn)基座 (4)等組成。 圖 1 其運(yùn)動(dòng)控制方式為： (1)由伺服電機(jī)驅(qū)動(dòng)可旋轉(zhuǎn)角度為 360的氣控機(jī)械手(有光電傳感器確定起始 0 點(diǎn) )；(2)由步進(jìn)電機(jī)驅(qū)動(dòng)絲杠組件使機(jī)械手沿 X、 Y 軸移動(dòng) (有 x、 y 軸限位開(kāi)關(guān) )；(3)可回旋 360的轉(zhuǎn)盤(pán)機(jī)構(gòu)能帶動(dòng)機(jī)械手及絲杠組自由旋轉(zhuǎn) (其電氣拖動(dòng)部分由直流電動(dòng)機(jī)、光電編碼器、接近開(kāi)關(guān)等組成 )；(4)旋轉(zhuǎn)基座主要支撐以上 3 部分 ；(5)氣控機(jī)械手的張合由氣壓控制 (充氣時(shí)機(jī)械手抓緊 ,放氣時(shí)機(jī)械手松開(kāi) )。 其工作過(guò)程為：當(dāng)貨物到達(dá)時(shí) ,機(jī)械手系統(tǒng)開(kāi)始動(dòng)作 ；步進(jìn)電機(jī)控制開(kāi)始向下運(yùn)動(dòng) ,同時(shí)另一路步進(jìn)電機(jī)控制橫軸開(kāi)始向前運(yùn)動(dòng) ；伺服電機(jī)驅(qū)動(dòng)機(jī)械手旋轉(zhuǎn)到達(dá)正好抓取貨物的方位處 ,然后充氣 ,機(jī)械手夾住貨物。 步進(jìn)電機(jī)驅(qū)動(dòng)縱軸上升 ,另一個(gè)步進(jìn)電機(jī)驅(qū)動(dòng)橫軸開(kāi)始向前走 ；轉(zhuǎn)盤(pán)直流電機(jī)轉(zhuǎn)動(dòng)使機(jī)械手整體運(yùn)動(dòng) ,轉(zhuǎn)到貨物接收處 ；步進(jìn)電機(jī)再次驅(qū)動(dòng)縱軸下降 ,到達(dá)指定位置后 ,氣閥放氣 ,機(jī)械手松開(kāi)貨物 ；系統(tǒng)回位準(zhǔn)備下一次動(dòng)作。 二 .控制器件選型 為達(dá)到精確控制的目的 ,根據(jù)市場(chǎng)情況 ,對(duì)各種關(guān)鍵器件選型如下： 1.步進(jìn)電機(jī)及 其驅(qū)動(dòng)器 機(jī)械手縱軸 (Y 軸 )和橫軸 (X 軸 )選用的是北京四通電機(jī)技術(shù)有限公司的42BYG250C 型兩相混合式步進(jìn)電機(jī) ,步距角為 0.9 /1.8 ,電流 1.5A。 M1 是橫軸電機(jī) ,帶動(dòng)機(jī)械手機(jī)構(gòu)伸、縮 ；M2 是縱軸電機(jī) ,帶動(dòng)機(jī)械手機(jī)構(gòu)上升、下降。所選用的步進(jìn)電機(jī)驅(qū)動(dòng)器是 SH-20403 型 ,該驅(qū)動(dòng)器采用 10 40V 直流供電 ,H 橋雙極性恒相電流驅(qū)動(dòng) ,最大 3A的 8種輸出電流可選 ,最大 64細(xì)分的 7種細(xì)分模式可選 ,輸入信號(hào)光電隔離 ,標(biāo)準(zhǔn)單脈沖接口 ,有脫機(jī)保持功能 ,半密閉式機(jī)殼可適應(yīng)更惡劣的工況環(huán)境 ,提供節(jié)能的自動(dòng)半電流方式。 驅(qū)動(dòng)器內(nèi)部的開(kāi)關(guān)電源設(shè)計(jì) ,保證了驅(qū)動(dòng)器可適應(yīng)較寬的電壓范圍 ,用戶可根據(jù)各自情況在 10 40VDC 之間選擇。一般來(lái)說(shuō)較高的額定電源電壓有利于提高電機(jī)的高速力矩 ,但卻會(huì)加大驅(qū)動(dòng)器的損耗和溫升。本驅(qū)動(dòng)器最大輸出電流值為 3A/相 (峰值 ),通過(guò)驅(qū)動(dòng)器面板上六位撥碼開(kāi)關(guān)的第 5、 6、 7，三位可組合出 8 種狀態(tài) ,對(duì)應(yīng) 8 種輸出電流 ,從 0.9A 到 3A以配合不同的電機(jī)使用。本驅(qū)動(dòng)器可提供整步、改善半步、 4 細(xì)分、 8 細(xì)分、 16細(xì)分、 32 細(xì)分和 64 細(xì)分 7 種運(yùn)行模式 ,利用驅(qū)動(dòng)器面板上六位撥碼開(kāi)關(guān)的第 1、2、 3，三位可組合出不同的狀態(tài)。 2.伺服電機(jī)及其驅(qū)動(dòng)器 機(jī)械手的旋轉(zhuǎn)動(dòng)作采用松下伺服電機(jī) A系列小慣量 MSMA5AZA1G,其額定輸出50W、 100/200V 共用 ,旋轉(zhuǎn)編碼器規(guī)格為增量式 (脈沖數(shù) 2500p/r、分辨率10000p/r、引出線 11 線 )；有油封 ,無(wú)制動(dòng)器 ,軸采用鍵槽連接。該電機(jī)采用松下公司獨(dú)特算法 ,使速度頻率響應(yīng)提高 2 倍 ,達(dá)到 500Hz；定位超調(diào)整定時(shí)間縮