CN105689194A

CN105689194A - Paste smearing mechanical arm

Info

Publication number: CN105689194A
Application number: CN201410702170.4A
Authority: CN
Inventors: 姚秋丽
Original assignee: Individual
Current assignee: Individual
Priority date: 2014-11-28
Filing date: 2014-11-28
Publication date: 2016-06-22

Abstract

The invention discloses a paste smearing mechanical arm. The paste smearing mechanical arm is composed of two major parts including a paste extruding device and a three-dimensional guide rail. The three-dimensional guide rail is composed of three linear motion guide rails, the motion in the Z-axis direction and the motion in the Y-axis direction are driven through a stepping motor and are achieved through belt wheel transmission, the motion in the Z-axis direction is driven through a servo motor, and the front limit, the rear limit, the left limit, the right limit, the upper limit and the lower limit of the guide rails are protected through a limiting switch. The high adaptive ability of fuzzy PID control can be brought into play, the unique beneficial effects that an expert system is high in response and efficiency can be brought into play as well, stable running of cathode sheet paste smearing is achieved, and a great contribution is made for the China aerospace work.

Description

Plaster coating machine tool hands

Technical field

The present invention relates to a kind of mechanical hand, especially relate to a kind of plaster coating machine tool hands。

Background technology

Negative plate automatic production line is picked and placeed paper system by cross cutting, de-put modular system, is coated with cream formation system, picks and places net system and packaging system five part forms。In order to realize control integration better, it is easy to operative, use one to grind China's 610L industrial computer and production line is carried out centralized Control, control software design arranges five separate functional blocks for completing the control of five subsystems, and establish the communication signal of contact mutually, each functional module all can enter or state out of service online, on-line setup parameter, and all manually running and can work under the automatic method of operation。

Pole piece mastic requires smooth non-notch, the required precision of thickness be 0.1mm, speed more than 3/min, so being coated with the seriality of cream and uniformity is the key factor directly affecting pole piece molding。Therefore, plaster coating machine tool hands requires the features such as kinematic accuracy is high, motion is frequent, action is the most complicated, is the difficult point of whole production line control system, also directly influences the quality of final products。

Summary of the invention

The present invention provides a kind of plaster coating machine tool hands, it is combined into a high accuracy with expert system control, high efficiency manipulator control system, the design of this uniqueness both can play the height adaptive ability of fuzzy-adaptation PID control, the exclusive high response of specialist system, high efficiency feature can be played again, achieve negative plate and be coated with the stable operation of cream, be made that tremendous contribution for China Aerospace cause。

The technical solution adopted in the present invention is。

The present invention is the industry mechanical arm of a kind of three degrees of freedom right angle coordinate, is made up of paste extrusion device and three coordinate guide rail two large divisions。Three coordinate guide rails are the Motor execution parts of mechanical hand, and its effect is according to certain orbiting motion with paste extrusion device；Paste extrusion device is arranged on: axis rail lower end, it is made up of paste extrusion pump, electromagnetic valve and sensor (proximity switch), when receiving painting cream signal, electromagnetic valve is opened, mastic under the effect of baric systerm by paste extrusion pump from go out cream mouth extrusion, mastic uniform spreading is located at wrapping paper framed in。

Three described coordinate guide rails are three linear motion guide rails, and the motion of Z axis, Y direction is driven by motor, is realized by belt wheel transmission, and Z-direction motion is driven by servomotor, and all around of guide rail and bound are protected with limit switch respectively。

The control loop of described mechanical hand includes several parts such as sensor, A/D, D/A and motion controller。In each sampling period, position sensor gathers the live signal of out position, it is input to control system through A/D conversion and feeds back in industrial computer, then compared with desired value and utilize control algolithm calculate obtain control signal, by control system, the execution unit such as motor and servomotor is provided effective controlled quentity controlled variable, finally realize the accurate control of robot movement。

The expert control system of described mechanical hand, it it is a kind of large complicated intelligent computer program, it stores the knowledge of several human experts in specialized field and the method for thinking, solution problem in a computer in a suitable manner so that it is can go solution problem the imitative human expert of the control counterdie of inference machine。Specifically, it is simply that adopt and certain specific representation is compiled or automatically generated to certain knowledge presentation technology, exist in knowledge base, then pass through data and order, use thrust mechanism to control knowledge base and whole system work, obtain the solving result of problem。Foundation and the realization of the expert control system used on this production line substantially need three steps, it is respectively as follows: the design of (1) system and knowledge base is set up: in view of the particularity of plaster coating machine tool hands, directly cannot obtain Relational database from domain expert, set up the data base of specialist system only by the related data produced in application process。(2) inference machine is set up: the production process of plaster coating machine tool hands is sufficiently complex, is subject to external environment impact also relatively big, therefore, adopts the production inference rule of " IF condition THEN operation " in the realization of inference machine。(3) system expands: the unique distinction of this specialist system is that by long-term production work, the data instance of a large amount of fuzzy-adaptation PID control can be produced, these examples are added the lane database of specialist system after processing, constantly extend the span of control of specialist system, making control system can complete the high accuracy under the non-linear environment that external loading and interference variations are more complicated, high efficiency robot movement controls。

The invention has the beneficial effects as follows: both can play the height adaptive ability of fuzzy-adaptation PID control, the exclusive high response of specialist system, high efficiency feature can be played again, it is achieved that negative plate is coated with the stable operation of cream。

Accompanying drawing explanation

Below in conjunction with drawings and Examples, the present invention is further described。

Fig. 1 is the paste extrusion structure drawing of device of the present invention。

Fig. 2 is the robot movement control principle drawing of the present invention。

Detailed description of the invention

Below in conjunction with drawings and Examples, the invention will be further described。

As it is shown in figure 1, the industry mechanical arm of a kind of three degrees of freedom right angle coordinate, it is made up of paste extrusion device and three coordinate guide rail two large divisions。Three coordinate guide rails are the Motor execution parts of mechanical hand, and its effect is according to certain orbiting motion with paste extrusion device；Paste extrusion device is arranged on: axis rail lower end, it is made up of paste extrusion pump, electromagnetic valve and sensor (proximity switch), when receiving painting cream signal, electromagnetic valve is opened, mastic under the effect of baric systerm by paste extrusion pump from go out cream mouth extrusion, mastic uniform spreading is located at wrapping paper framed in。

As it is shown in figure 1, two five electric change valves control the three-dimensional ceramic valve in paste extrusion pump, when 6. 7. communicating, mastic clamp-ons pump body under the air pressure of normal pressure, and 1. piston moves right；When 7. 8. communicating, source of the gas extrusion piston is moved to the left, and is extruded from 8. mouth by mastic。(wherein 2. controlling valve for the piston speed of service, be 3. piston stroke control structure)。

As it is shown in figure 1, three coordinate guide rails are three linear motion guide rails, the motion of Z axis, Y direction is driven by motor, is realized by belt wheel transmission, and Z-direction motion is driven by servomotor, and all around of guide rail and bound are protected with limit switch respectively。

As in figure 2 it is shown, the control loop of mechanical hand includes several parts such as sensor, A/D, D/A and motion controller。In each sampling period, position sensor gathers the live signal of out position, it is input to control system through A/D conversion and feeds back in industrial computer, then compared with desired value and utilize control algolithm calculate obtain control signal, by control system, the execution unit such as motor and servomotor is provided effective controlled quentity controlled variable, finally realize the accurate control of robot movement。

Claims

1. a plaster coating machine tool hands, is characterized in that: being made up of paste extrusion device and three coordinate guide rail two large divisions, three coordinate guide rails are the Motor execution parts of mechanical hand, and its effect is according to certain orbiting motion with paste extrusion device；Paste extrusion device is arranged on: axis rail lower end, it is made up of paste extrusion pump, electromagnetic valve and sensor (proximity switch), when receiving painting cream signal, electromagnetic valve is opened, mastic under the effect of baric systerm by paste extrusion pump from go out cream mouth extrusion, mastic uniform spreading is located at wrapping paper framed in。

2. a kind of plaster coating machine tool hands according to claim 1, is characterized in that: described two five electric change valves control the three-dimensional ceramic valve in paste extrusion pump, and when 6. 7. communicating, mastic clamp-ons pump body under the air pressure of normal pressure, and 1. piston moves right；When 7. 8. communicating, source of the gas extrusion piston is moved to the left, and is extruded from 8. mouth by mastic, (wherein 2. controlling valve for the piston speed of service, be 3. piston stroke control structure)。

3. a kind of plaster coating machine tool hands according to claim 1; it is characterized in that: described three coordinate guide rails are three linear motion guide rails; the motion of Z axis, Y direction is driven by motor; realized by belt wheel transmission; Z-direction motion is driven by servomotor, and all around of guide rail and bound are protected with limit switch respectively。

4. a kind of plaster coating machine tool hands according to claim 1, it is characterized in that: the control loop of described mechanical hand includes several parts such as sensor, A/D, D/A and motion controller, in each sampling period, position sensor gathers the live signal of out position, it is input to control system through A/D conversion and feeds back in industrial computer, then compared with desired value and utilize control algolithm calculate obtain control signal, by control system, the execution unit such as motor and servomotor is provided effective controlled quentity controlled variable, finally realize the accurate control of robot movement。