一种包装机械手气动控制系统的研究

Research on the Pneumatic Control System of a Kind of Packaging Manipulator

为了实现对短小丝条状物料的自动连续包装充填与计量,开发设计了包装充填机械手,机械手的水平运动采用带调速机构的阀控气缸实现分段调速,垂直运动采用PLC-PWM气动高速开关阀实现定位精度和速度控制;机械手料手的抓料和卸料采用简单阀控气缸控制,以满足快速、高精度和低成本的要求。开展了实验研究,机械手竖直定位精度小于2mm,循环时间小于6 s,满足控制指标要求。

A packaging manipulator was developed to realize automatic and continuous stuffing and weighing of filamentous material. The horizontal movements were realized by a pneumatic valve controlled cylinder with a regulating mechanism. The vertical movements, the velocity, and the accuracy were realized by the PWM on-off valve controlled cylinder. The movements of hand fingers were realized by the finger driven cylinder to make the paw grasp or unload the material. The experimental results showed that the error of vertical movement is only less than 2 mm, the circulation time is less than 5.8 s, which are conformed to the control demands.