摆动制动气缸研制及位置控制技术研究

【作者】 安佰军；

【导师】 李小宁；

【作者基本信息】 南京理工大学 ， 机械电子工程， 2005， 硕士

【摘要】 摆动气缸是利用压缩空气驱动输出轴在一定角度范围内作往复回转运动的气动执行元件，广泛用于物体的转位、翻转、分类、夹紧、阀门的开闭以及机器人的手臂动作等。但是，现在的摆动气缸由于缺乏制动装置，在需要进行转角控制的场合，一直不能实现中间任意位置的可靠定位，还是依靠伺服电机、步进马达或液压伺服定位系统来完成。因此在易燃、易爆等需要全气动的场合，就迫切需要一种带有制动装置的摆动气缸。 本课题主要研究了带制动装置的摆动气缸结构及其位置控制技术，具体完成的研究工作有：(1)对摆动制动气缸中的关键技术进行了研究，研究了制动装置、膜片驱动装置以及在摆动制动气缸有限空间内将制动装置、驱动装置、角位移检测装置的集成：(2)设计了一种新型结构的摆动制动气缸，并研制出了样机；(3)通过实验研究了制动装置的保持力矩，研究了气缸在制动装置作用下的运动规律：(4)对摆动制动气缸的位置控制技术进行了研究。 本课题的研究为摆动制动气缸的进一步开发和应用打下了良好的基础。更多还原

【Abstract】 The pneumatic rotary actuator is a kind of pneumatic execute component whose output shaft can rotate driven by compressed air.The pneumatic rotary actuator is widely used for work piece’s turning, sorting, clamping, valve controlling and the arm operation of the robot etc. However, in the circumstances where angle is needed to be accurately controlled, the servomotor ,step-in motor and servohydraulic system are still the driving system because the pneumatic rotary actuator has no brakeage and cannot been stopped reliably at any position within its range all along. In the burnable and explosible situation where full-pneumatic is in demand, the pneumatic rotary actuator with a built-in brakeage is urgently needed.The purpose of the research is to study the structure and positioning technology of the pneumatic rotary actuator with a built-in brakeage. The main works accomplished in the paper include: (l)the research on key technology: the brakeage , the diaphragm driving mechanism and the integration of the brakeage,- the diaphragm driving mechanism and the angle detection mechanism; (2)the design of the pneumatic rotary actuator with a built-in brakeage and the accomplishment of the prototype; (3) the research on holding torque of the brakeage and the research on the motion law of the actuator operated by the brakeage;(4)the research on the positioning technology of the pneumatic rotary actuator with a built-in brakeage.The research lay a good foundation for further development and application of the pneumatic rotary actuator with a built-in brakeage.更多还原