【作者】 马如奇；

【导师】 郝明晖；

【作者基本信息】 哈尔滨工业大学 ， 机械设计及理论， 2009， 硕士

【摘要】 随着我国注塑机产业的迅速发展,对注塑机的自动化程度要求越来越高,现代化的注塑机都开始配备机械手。目前,注塑机械手都是针对卧式注塑机开发的,很难被用于立式注塑机;此外,注塑机开模周期变短对注塑机机械手的响应速度和定位精度提出了更高的要求。传统注塑机械手多采用气压或直流伺服驱动。气压驱动速度快,但运动平稳性差,定位精度低;直流伺服调速性能好且定位精度高,但结构复杂。交流伺服作为一种日渐成熟的驱动技术,其最突出特点就是快速响应和精确定位,且体积小、结构简单,被广泛用于机器人及医疗器械等需要快速精确定位的场合。考虑到上述现状,本课题定位于为立式注塑机研制一款采用交流伺服驱动的注塑机机械臂,使其能够快速精确定位,满足立式注塑机的工作需求。课题中,注塑机械臂系统主要包括机械系统和控制系统两大部分。在机械系统方面,本文首先对机械臂的机械本体结构及关节传动系统进行设计,在对整体结构进行优化分析后试制了物理样机。其次,利用MATLAB对机械臂的运动学进行分析,建立机械臂关节变量(位置及速度)与末端执行机构变量(位置及速度)之间的关系,在此基础上确定出机械臂的工作空间。在控制系统方面,课题采用永磁同步电机作为关节驱动电机,对关节交流伺服系统的硬件控制电路进行设计。同时,以PID控制策略和磁场定向空间矢量控制策略为基础,对关节伺服系统的控制算法进行研究,实现了关节伺服系统中机械环和电流环的同周期控制,提高关节伺服系统的响应速度和定位精度。最后,对整个机械臂系统进行了组装和调试,通过关节位置环控制实验和关节速度环控制实验,测试了整个机械臂系统的性能。实验证明,课题中设计的机械臂能够按照给定的位置或速度指令平稳精确地运行,达到了课题的研究目的。更多还原

【Abstract】 With fast development of the injection molding machine industry in our country, the requirement of automation level of the injection molding machine is tend to higher and higher, and more and more advanced injection molding machine begin to equip machine manipulator. Presently, the machine manipulator is mainly designed for horizontal injection molding machine and it is hard to apply for vertical injection molding machine; Furthermore, the action cycle of the injection molding machine becomes shorter, which requires the machine manipulator of the injection machine must have high speed response and high positioning precision. The traditional drive mode of the injection molding machine is gas drive or dc servo drive. Gas drive has a good speed response, but it has poor motion stability and positioning precision; dc servo drive has a good speed response and positioning precision, but its structure is too complicated. As a new drive mode, ac servo is extensively applied in the robot / medical equipment and other fields where fast speed response and high positioning precision are needed for its excellent speed response and positioning precision.Considering the actuality mentioned above, the paper mainly focus on the development of manipulator driven by ac servo for vertical injection molding machine, and the manipulator should has the ability of fast and precise positioning. In the subject, manipulator arm system of the injection molding machine mainly includes two parts: machine system and control system.For machine system, firstly, the mechanical noumenon and the joint transmission mechanism of the manipulator were designed, and the physical prototype was made after the optimization and analysis of the whole mechanical structure. And then, kinematics analysis was completed by using MATLAB software and the relationship between the joint variable (position or speed) and actuating mechanism variable (position or speed) was build, based on which the working space was also confirmed.For control system, permanent magnet synchronous motor was used to drive the joints of manipulator, and the hardware control circuit of the joint ac servo system was designed. At the same time, based on the PID control strategy and field-oriented vector control strategy, the control algorithm of the joint ac servo system was researched and the same cycle control was achieved in machine-loop and current-loop, which greatly improved the response speed and positioning precision of the joint servo system.At last, the whole manipulator system was assembled and debugged, and experiments for the joint position loop control and joint speed loop control were implemented to test the performance of the manipulator. The experiment results indicated that the manipulator can work placidly and accurately, which validates that the manipulator reached the aim of the subject.更多还原