Design Of Multi-axis Motion Control System For Precision Manipulator In Stamping Production Line

Today,with the development of technology,the degree of industrial automation is getting higher and higher and the scale of manufacturing has shown a great-leap-forward development.The work efficiency and processing quality of traditional production line have been unable to meet the requirements of today's industrial development.So using the industrial robot or manipulator to replace the traditional equipment will be the most important change of the modern industrial production.In the stamping industry,in order to improve efficiency,reduce costs and resources,more and more enterprises use automatic feeding device to improve the quality and efficiency of processing,as well as expand the competitiveness.Compared with the traditional semiautomatic feeding equipment,the automatic feeding manipulator not only has higher efficiency and lower cost,but also operates more stably and safely.This paper has designed a multi-axis motion control system for the 3D automatic feeding manipulator applied to the stamping production line.The specific work includes the following aspects:Firstly,based on the analysis of the working environment and technical requirements of the 3D feeding manipulator,chose the ball screw as the manipulator's transmission mechanism and the servo motor as the driving device;and designed the control system scheme,which chose PLC as the logic sequence controller to coordinate the entire control system process,and used the motion controller to control the specific servo motion.Secondly,the hardware design of the 3D feeding manipulator motion control system has been completed,which mainly included the selection and performance study of the Omron PLC,TRIO MC464 motion controller,Yasukawa servo drive and Fuji touch screen,and also included the realization of communication between the core hardware of the control system.Thirdly,in order to make up the deficiency of TRIO motion controller in speed interpolation algorithm,an adaptive spline interpolation algorithm based on cubic polynomial acceleration / deceleration is proposed,which makes the manipulator run more smoothly and reduce the impact on the mechanical body.Finally,the software part of the motion control system of the feeding manipulator is developed.By means of the modular design idea,the synchronized driving between the six motion axes of the feeding manipulator is realized by using PLC and the touch screen to control the entire system's logical order and the motion controller to control the servo motion.