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机械手的的控制是如何完成的?

时间:2017-08-30  来源:本文转载于网络,由冲压机械手厂家创盈时代整理,欢迎转载,转载请注明出处  点击:161

机械手控制的要素包括工作顺序、到达位置、动作时间、运动速度、加减速度等。
The elements of manipulator control include sequence of work, position of arrival, time of action, speed of movement, speed of addition and subtraction, etc.

机械手的控制分为点位控制和连续轨迹控制两种。
Manipulator control is divided into two kinds of point control and continuous trajectory control.

控制系统可根据动作的要求,设计采用数字顺序控制。它首先要编制程序加以存储,然后再根据规定的程序,控制机械手进行工作程序的存储方式有分离存储和集中存储两种。

The control system can be designed with digital sequential control according to the action requirements. First, it should program and store it, and then control the manipulator according to the program. The storage mode of the program is divided into two kinds: separation, storage and centralized storage.


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分离存储是将各种控制因素的信息分别存储于两种以上的存储装置中,如顺序信息存储于插销板、凸轮转鼓、穿孔带内;位置信息存储于时间继电器、定速回转鼓等;集中存储是将各种控制因素的信息全部存储于一种存储装置内,如磁带、磁鼓等。这种方式使用于顺序、位置、时间、速度等必须同时控制的场合,即连续控制的情况下使用。
Isolated storage is the storage device to control elements of information are stored in more than two kinds, such as the order of information is stored in the latch plate, the cam drum, tape; position information is stored in the constant speed rotary drum, time relay; centralized storage is various control factors all of the information stored in a storage device such as tape, drum, etc.. This method is used in order, position, time, speed and other occasions that must be controlled simultaneously, that is, in the case of continuous control.

其中插销板使用于需要迅速改变程序的场合。换一种程序只需抽换一种插销板限可,而同一插件又可以反复使用;穿孔带容纳的程序长度可不受限制,但如果发生错误时就要全部更换;穿孔卡的信息容量有限,但便于更换、保存,可重复使用;磁蕊和磁鼓仅适用于存储容量较大的场合。至于选择哪一种控制元件,则根据动作的复杂程序和精确程序来确定。
The latch plate is used for occasions where procedures need to be changed quickly. For a program just replacing a latch plate limit, and the same plug-in and can be used repeatedly; perforated hold program length is not limited, but if an error occurs to replace all punched card information; a limited capacity, but easy to replace, preservation, reuse; magnetic stamen and drum is only suitable for the occasion of big storage capacity. As for which control element to choose, it is determined according to the complex procedure of the action and the precise program.

对动作复杂的机械手,采用求教再现型控制系统。更复杂的机械手采用数字控制系统、小型计算机或微处理机控制的系统。控制系统以插销板用的最多,其次是凸轮转鼓。它装有许多凸轮,每一个凸轮分配给一个运动轴,转鼓运动一周便完成一个循环。
For complex manipulators, the control system is adopted. A more complex manipulator; a digital control system; a minicomputer or microprocessor controlled system. The control system uses the latch plate at most, followed by the cam drum. It is fitted with many cams, each of which is assigned to a moving shaft, and the drum completes a cycle for one week.

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本文关键词:机械手控制系统

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