Research On Key Technology Of Control System Of Loading And Unloading Manipulator

Automatic loading and unloading manipulator device is an important aspect of the application of robotics. With the high-speed and precision trend of machine tools, Automatic loading and unloading device of machine tool will have a broader development prospect. With the big support of government, gear grinding machines made in china are gradually mature, while processing efficiency and accuracy has greatly improved. However, domestic grinding machines are now still basically relying on traditional manual methods to achieve loading and unload, this method not only can't guarantee safety of workers, but also is difficult to meet the modern requirement of the machine in speed and accuracy, and is seriously hampered the development of China's machine tool industry. Control system of automatic loading and unloading device should not only deal with complex environment, but also achieve rapid and accurate movement requirement. As a common driving component of robots, AC servo motor has large transmission power, prompt action and accurate positioning. Therefore, study on fast and high precision servo control has a real practical significance.This paper takes the control system of automatic loading and unloading manipulator as the study object, study the multi-sensor detection technology and servo control with high precision, complete the programming and the control interface of the system, and then simulate the driven technology of the servo motor to get the analysis conclusions. This paper, firstly, analyzes the control requirement of each part of the loading and unloading device, Secondly, determines the overall control requirements, and selects the control components of the control system. And then according to the design requirement of the PLC selected, combining the function of the system, achieve the circuit design, which is the basis of all the control system.Study on high speed and precision control scheme of the loading and unloading manipulator; analyze the main control difficulties, through rational calculation of the electronic gear ratio and other parameter of the servo system, with the help of high-precision position sensor, achieving the control requirement of high speed and high precision. Design one experiment platform, base on motion control card and complete the control of servo motor system, study on the effect of the load and the position and velocity feed forward gain parameters to the motor characteristics, which is the basis for field debugging of the system.Study the timing control of the automatic loading and unloading manipulator, reasonably design the programming, and basing on touch screen, achieve a good interactive feature. And ultimately achieved the function that high accuracy and rapid loading and unloading of the machine tool.