A Research Of Packing Manipulator For Auto-Weighting And Nonstop-Stuffing

Auto-weighting and auto-stuffing were the key technology in the process of auto-packing for smallish and filamentous materials used in the construction industry,such as iron nails.The disquisition told the subject was researched.According to the characters of these kinds of materials,the holistic design for auto-weighting and stuffing manipulator was brought forward,and analyzed its unitary configuration,transmission system and control system.Based on these analyses,such subjects were research.First,research for the virtual assembly and motion simulation of manipulator's machine based on PRO/E.Secondly,design for the pneumatic loop of manipulator . Thirdly , design for the auto-weighting system based on single chip microcomputer.Fourthly,research for the movement control system based on programmable controller.Fifthly,research for the test was achieved.The control on vertical movement was the difficulty and emphasis on research for manipulator.Based on summing up and analyzing modern pneumatic servocontrol technology,the pneumatic servocontrol positioning system was adopted,which was made up of programmable controller,PWM high-speed on-off pneumatic valves,double-action pneumatic linear actuator with single-piston rod,digital coder,photoelectric distance detecting sensor and proximity transducer . In order to obtain favorable control efficiency , theoretically analyzed flow-pressure characteristic of PWM high-speed on-off pneumatic valves and control principium of positioning system,and obtained some beneficial conclusion.The effective control method for the structure changeable type of adaptive resulting in the real observing at the objective changes was invented,which was combined the open loop and close loop control.The experimental results shew that the control method not only controlled the positioning impact effectively,but also achieved the anticipative demands of moving speed and positioning accuracy.Testing research obtained sufficient data,including horizontol direction movement,vertical direction movement,auto-weighting system and so on.These experimental data shew that the positioning accuracy and movement velocity of movement control system,and weighting accuracy of auto-weighting system achieved the design's demand of manipulator completely.By searching diffusely,there wasn't similar production as this research.The research in this disquisition was elementary,and bottomed for researching independently later and filling up the internal gap of this technology.