With the rapid development of the processing industry, the level of automation equipment in all walks of life is getting higher and higher. Modern processing workshops are often equipped with pick-up robots to improve production efficiency and replace workers in dangerous and arduous labor in harsh environments. At present, the control methods of industrial pick-and-drop robots commonly used on the market are mainly driven by hydraulic or pneumatic pressure. The advantage of this control strategy is that the structure is simple and the system is easy to control. However, the disadvantage is that the positioning of the system is achieved by setting the position of the proximity switch, and the positioning accuracy is low. Once the user requests to change the type of retrieving work, the positioning switch of each hydraulic or pneumatic cylinder must be re-adjusted to adapt to the new work task, Conducive to the automation of the production process. The main motion of the pick-up robot adopts the all-electric control mode. The system uses the AC motor as the driving source, the dedicated AC motor servo controller is the lower position machine, the industrial control computer is the upper position machine, and the system adopts the distributed control control strategy. The design scheme has high control precision, high control real-time performance, compact structure and easy operation by the user.
The working mode of the pick-up robot is completed according to the concept of “teaching/reproducing robotâ€, that is, the teaching behavior of the pick-up robot is taught by the human teacher, and the joints of the pick-up robot are recorded during the teaching process. The starting point position is repeated during the production process according to the movement speed and acceleration set by the user. The pick-up robot control system adopts the distributed control structure, that is, one lower-level servo controller is controlled by one upper computer, and each lower-level servo controller drives an AC asynchronous motor separately, and the motor drives the actuator of the robot to complete the action. The automatic mechanical hand machine selects the industrial control computer, and the lower servo controller adopts the special asynchronous servo motor controller. The upper computer communicates with the servo controller through the serial port according to the rs-485 protocol standard, and the lower computer accepts the command from the upper computer. Language, control the motor rotation according to the instructions. At the same time, the lower servo controller detects the motion state of the asynchronous motor through the code wheel on the AC motor, and feeds it back to the lower computer to realize the real-time control of the motor motion state of the lower controller.
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