一种分类机械手的研制与开发  

Research and Development of a Sorting Manipulator

作　　者：王明顺[1] 关守平 陈述平[2] 李丹[1] 

机构地区：[1]东北大学信息科学与工程学院,辽宁沈阳110004 [2]东北大学机械工程与自动化学院,辽宁沈阳110004

出　　处：《东北大学学报（自然科学版）》2006年第9期957-960,共4页Journal of Northeastern University(Natural Science)

基　　金：国家科技部科技型中小企业技术创新基金资助项目(03C26212100055)

摘　　要：提出了一种用在晶体角分类机上替代工人来完成卸料及分类工作的机械手.该分类机械手是机械、电气传动、气动控制、嵌入式微控制器和微电子器件相结合的产物.机械部分构成了分类机械手的骨架;步进电机等使分类机械手实现了准确运动;气动元件使分类机械手变得灵巧、简捷.借助于系统状态变换等方法,以微控制器C8051F206为核心的分类机械手控制器的软件给予了分类机械手某些简单的人工智能,使其能准确无误地重复完成卸料及分类任务.分类机械手的基准定位与步进电机步进计数控制的结合可使其长期运行无积累误差.经在工业现场的长期使用证明,该分类机械手设计合理、工作可靠.A sorting manipulator was developed to be mounted to the crystal-angle sorter instead of manual operation of unloading and sorting, combining the machine parts, electric transmission and pneumatic control with embedded microprocessor and micro-electronic elements, among which the machine parts or mechanism is the framework of the sorting manipulator. The step motor makes the manipulator operate precisely, and the pneumatic controls make it cleverer and prompter. The software of the controller, whose core is the embedded micro-controller C8051F206 which is a fully integrated mixed-signal System-on-a-Chip ISP MCU and executes up to 25MIPS, offers some simple artificial intelligence to the sorting manipulator by virtue of transforming the control status, thus enabling it to complete precisely its unloading and sorting operations repeatedly. The combination of manipulator＇s standard positioning with counting control of step motor can keep the manipulator in long time operation without accumulated error. After a long time operation it has been proved that the sorting manipulator＇s design is correct and it works reliably.

关 键 词：分类机械手 机器手臂 控制状态转换 晶体角分类机 微程序控制器 

分 类 号：TP241.2[自动化与计算机技术—检测技术与自动化装置]