Electronic cam-based CAM variable assignment method and truss double manipulator

An electronic cam and dual manipulator technology, applied in the field of manipulators, can solve the problems of inability to automatically adjust the path of the truss manipulator, complicated adjustment of the electronic cam curve, inability to control the stroke, etc. The effect of support

Pending Publication Date: 2020-02-21
ZHENGZHOU UNIVERSITY OF LIGHT INDUSTRY
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  • Abstract
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Problems solved by technology

[0005] The purpose of the present invention is to provide a CAM variable value assignment method based on electronic cams and truss double manipulators, which are used to solve the problem that the traditional truss manipulators in the pri

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  • Electronic cam-based CAM variable assignment method and truss double manipulator
  • Electronic cam-based CAM variable assignment method and truss double manipulator
  • Electronic cam-based CAM variable assignment method and truss double manipulator

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Embodiment Construction

[0062] Hereinafter, the present invention will be described in detail with reference to the accompanying drawings and in conjunction with the embodiments. It should be noted that, in the case of no conflict, the embodiments and the features in the embodiments of the present invention can be combined with each other.

[0063] Such as Figure 12 to Figure 15 A kind of CAM variable assignment method based on electronic cam of the present invention shown, the first step: design 1 group of variable points by n 1 , n 2 , n 3 ......n n Composition; the second step is to write the information of the craft point of the shaft to the corresponding n from front to back according to the time sequence according to the craft point of the shaft 1 , n 2 , n 3 ......n nIn the formed variable array, the redundant variables are filled with 0; the third step is to correspond the CAM variable in the controller with the variable address on the host computer, so that the host computer and the c...

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Abstract

The invention relates to an electronic cam-based CAM variable assignment method and a truss double manipulator and aims at solving the problems that a traditional cam mechanism is easy to wear, poor in flexibility and single in trajectory, needs to receive an electronic cam curve provided by a control system by connecting in parallel with a servo and the like. According to the technical scheme atpresent, aiming to avoid the situation that generation of a cam curve is not flexible, and secondary development is relatively difficult in the later stage, the invention creates and designs a CAM assignment method, through assignment on key process points on the electronic cam, interpolation is performed between every two process points through a quintic polynomial algorithm, the electronic cam curve can be flexibly generated online, and the process requirements are met; and meanwhile, a soft platform and a hardware platform of the electronic cam control system are built, experiments verify that an output motion track of the manipulator is more flexible, and the electronic cam-based CAM variable assignment method and the truss double manipulator are formed.

Description

technical field [0001] The invention relates to the technical field of manipulators, in particular to an electronic cam-based CAM variable assignment method and truss double manipulators. Background technique [0002] In automatic production, the cam-type handling manipulator is an important equipment that is often used. Its main function is to transfer materials from the production line to the next process or store them. The traditional cam-type manipulator is a purely mechanical manipulator. The movement curve of the manipulator set by the axis output is realized through a set of cam transmission mechanism, which can realize the material handling of the screen sheet. The mechanical structure of the cam-type manipulator is extremely easy to wear and tear, and the output movement track relatively simple. [0003] In the more common manipulators in industrial production, two sets of cam mechanisms pass through the same output shaft, one set of cam mechanisms controls the upw...

Claims

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Application Information

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IPC IPC(8): B25J9/16B25J9/02B25J15/06B25J18/00
CPCB25J9/023B25J9/1602B25J9/1679B25J15/065B25J18/00
Inventor 安小宇孔汉洪洋潘向飞鲁奎豪赵复兴孙会赵俊伟孟子杰
Owner ZHENGZHOU UNIVERSITY OF LIGHT INDUSTRY
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