1、 外文文献原文： 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 theo
2、ry, 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 indust
3、rial 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 dif
4、ferent 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
5、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 swi
6、tches)； (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
7、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；
8、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 mo
9、tion, 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
10、 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 , curren
11、t 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
12、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 automatic
13、ally. 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 wil
14、l 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
15、 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 mov
16、ement 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 increas
17、ed 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 positio
18、ning 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
19、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
20、, 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 th
21、ere 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
22、 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-al
23、one 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 all
24、ows 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.
