陈宝江,葛田子,王建治.一种包装机械手及其控制的研究[J].包装工程,2014,35(7):90-94.
CHEN Bao-jiang,GE Tian-zi,WANG Jian-zhi.Control Methods and the Manipulator Used for Packaging the Filiform Type Materials[J].Packaging Engineering,2014,35(7):90-94. |
| 一种包装机械手及其控制的研究 |
| Control Methods and the Manipulator Used for Packaging the Filiform Type Materials |
| 投稿时间：2013-12-29 修订日期：2014-04-01 |
| DOI： |
| 中文关键词: 机械手 电气伺服系统 数字控制 |
| 英文关键词: manipulator electro-pneumatic system digital control |
| 基金项目:国有大型企业技术创新课题( HLJLXLYJ-20050815-01) |
|
| 摘要点击次数: |
| 全文下载次数: |
| 中文摘要: |
| 目的 为提高酸菜丝、榨菜条等短小丝条状类物料连续包装过程的自动化程度和生产效率,研究一种具有自动充填与计量功能的机械手及其有效的控制方法。 方法 机械手是一气动控制系统,由 3 个气缸分别实现水平运动、竖直运动和抓料卸料动作,由单片机数据采集与显示系统来实现机械手抓料质量的检测与显示,由 PLC 实现对整个系统的控制,采用目标观测型变结构仿人智能控制,确保达到控制精度要求。 结果 在实验室对样机进行了试验研究,气源压力为 0 . 35 MPa,控制信号频率为 20 Hz 时,料手下端与取料水平面距离为 100 mm 条件下,机械手完成一个竖直运动循环所需时间小于 4 s,每 300 g 充填质量误差不大于 2 g。 结论 理论分析和实验结果表明,短小丝条状物料包装机械手和控制方法是可行的。 |
| 英文摘要: |
| Objective In order to improve the automation degree and the production efficiency of the continuous packaging line for the filiform materials, the control methods for the manipulator and the manipulator mechanism which has the capacity of self-weight measuring and material-filling were researched. Methods The manipulator was a pneumatic control system, consisting of three pneumatic cylinders circuits to implement the horizontal movement, vertical movement and the activities of picking up or putting down the materials among the line. The materials which the manipulator picked up were weighed and displayed by a single-chip macro computer. The control of the whole system was carried out by a PLC unit. The structure changeable type of human being simulating intelligence control methods resulting in the real observing at the objective changes were studied and implemented to achieve the control accuracy. Results The experimental study in the laboratory was conducted on the prototype, at a pneumatic pressure of 0. 35 MPa, a control signaling frequency of 20 Hz, and a distance between the material grabbing hands and the horizontal material grabbing plane of 100 mm, the time needed for the manipulator to complete a vertical motion circulation was smaller than 4 s, and the filling weight error of each 300 g packing was not bigger than 2 g. Conclusion The theoretical analysis and the experimental result have shown that the packaging manipulator and control method for the packaging of filiform materials are feasible. |
|
查看全文
查看/发表评论 下载PDF阅读器 |
| 关闭 |
|
|
|
渝公网安备 50010702501716号