基于机械手的金属焊丝盘数控弯丝系统开发

Development of CNC Wire Bending System Based on Manipulator

目前国内主要应用的是塑料焊丝盘,随着我国对环保的要求愈发严格,金属焊丝盘逐步取代塑料焊丝盘有着广阔的发展前景。本研究针对金属焊丝盘的三维立体结构设计了一种基于机械手的金属焊丝盘数控弯丝系统,并对其机械结构进行了设计分析,主要包括校直机构、送线机构、剪切机构、拉取定长机构、弯曲模具以及机械手几个部分。并在关节空间内对弯丝机械手的运动轨迹通过三次多项式进行规划,得到平稳的轨迹曲线。采用GT-400-SV-PCI-G运动控制卡为运动控制核心对数控弯丝系统的各个机构的运动进行实时控制。介绍了在Windows平台通过Visual C++6.0进行控制系统的开发所要实现的基本功能及运行流程,同时详述了各轴的参数设定及多轴协调运动轨迹设置。

At present,the main application of plastic welding wire tray,with China's increasingly stringent requirements for environmental protection,metal wire tray gradually replace the plastic wire tray,has broad prospects for development.Based on the three-dimensional structure of metal wire disc based on the design of a manipulator of metal wire wheel CNC wire bending system and its mechanical structure is designed and analyzed,mainly including the straightening mechanism,a wire feeding mechanism,shear mechanism,pull the fixed length mechanism,part bending die and several manipulator.And in the joint space,the trajectory of the bent wire manipulator is planned by three polynomial,and the smooth trajectory curve is obtained.GT-400-SV-PCI-G motion control card is used as the core of motion control,and the movement of each mechanism of NC bending wire system is controlled in real time.This paper introduces the basic functions and operation process of the development of control system on Windows platform through Visual C++6.At the same time,the parameter setting of each axis and the setting of multi axis coordinated motion trajectory are described in detail.