機(jī)械手外文翻譯--簡(jiǎn)易機(jī)械手及控制-機(jī)械手(文件)
【正文】 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 )。 圖 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 360176。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、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。的氣控機(jī)械手 (有光電傳感器確定起始 0 點(diǎn) )。(4)旋轉(zhuǎn)基座主要支撐以上 3 部分 。伺服電機(jī)驅(qū)動(dòng)機(jī)械手旋轉(zhuǎn)到達(dá) 2 正好抓取貨物的方位處 ,然后充氣 ,機(jī)械手夾住貨物。系統(tǒng)回位準(zhǔn)備下一次動(dòng)作。 M1 是橫軸電機(jī) ,帶動(dòng)機(jī)械手機(jī)構(gòu)伸、縮 。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。有油封 ,無(wú)制動(dòng)器 ,軸采用鍵槽連接。具有常規(guī)自動(dòng)增益調(diào)整和實(shí)時(shí)自動(dòng)增 益調(diào)整兩種自動(dòng)增益調(diào)整方式 ,還配有 RS48 RS232C 通信口 ,使上位控制器可同時(shí)控制多達(dá) 16 個(gè)軸。無(wú)刷直流電機(jī)驅(qū)動(dòng)器使用北京和時(shí)利公司生產(chǎn)的 BL0408 驅(qū)動(dòng)器 ,其采用 24～ 48V 直流供電 ,有起停及轉(zhuǎn)向控制、過(guò)流、過(guò)壓及堵轉(zhuǎn)保護(hù) ,且有故障報(bào)警輸出、外部模擬量調(diào)速、制動(dòng)快速停機(jī)等特點(diǎn)。 CPM2A 在一個(gè)小巧的單元內(nèi)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(shè)定和時(shí)鐘功能等。 三 .軟件編程 流程圖是 PLC 程序設(shè)計(jì)的基礎(chǔ)。 4 圖 由于論文篇幅有限 ,這里只列出了開(kāi)始兩段程序 ,供讀者參閱 ,見(jiàn)圖 3。 breath control manipulator (photoelectric sensor sure start 0 point)。 (4) rotating base main support above 3 parts。 rotary DC motor rotation so that the whole robot motion, go to the cargo receiving area。 , current is . M1 is the horizontal axis motor driven manipulator stretch, shrink。 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 7 accuracy. With a conventional automatic gain adjustment and realtime automatic gain Interest adjustment in the automatic gain adjustment methods, which also has RS485, RS232C munication 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 360 176。 2. 外文原文應(yīng)以附件的方式置于譯文之后。s BL0408 produced by the drive, which uses 24 ~ 48V DC power supply, a startstop 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 360 176。 a seal, no brakes, shaft with keyway connections. The motor uses Panasonic39。 system back to the place ready for the next action. control To achieve precise control purposes, according to market conditions, selection of a variety of key ponents
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