智能开罐机机械手控制算法的设计

Design of Control Algorithm of Intelligent Manipulator Cans Rolling Machine

近年来随着软包装材料及工艺的发展,软包装罐头开始零星出现。用于玻璃瓶罐头加工的包装机械的研究,对我国罐头行业的持续发展起着非常重要的作用。本文设计了智能开罐机机械手的控制算法,通过采用先进控制算法对电机电流进行控制,精确调整机械手抓瓶力量和机械手旋盖力矩,完成开罐动作的优化控制。

Recently, as the development of the soft packing material and the crafts, the soft packing cans appear, but just a little. The research of the packing mechanism used for the glass bottle cans, plays an important role in the development of the cans industry in our country. The new type of bottle rolling machine described in this paper is called Manipulator Bottle Rolling Machine. Its controlling precision is achieved by watching and controlling the motor current. The machine can adjusts the strength of snatching bottles and the moment of rolling, then achieves an optimize control.