Research And Development Of Automatic Loading And Unloading Device For Encoder Circular Grating Eccentricity Adjustment

In the encoder assembly line,according to the requirements of the encoder circular encoder eccentric adjustment device for automatic loading and unloading of the encoder,in order to solve the inadequacies of the manualy complete the loading and unloading of the encoder,improve the encoder assembly accuracy,automation and efficiency and develop an Automatic Loading and Unloading Device of Encoder Circular Grating Eccentric Adjustment.First of all,according to the design indicators of each device layout and an automatic loading and unloading device for encoder circular grating eccentric adjustment of the encoder production line,the main structure of the encoder automatic loading and unloading device was proposed to adopt a three-degree-freedom cylindrical coordinate system.According to the joint motion parameters of each axis of the automatic loading and unloading device for encoder circular grating eccentric adjustment of the encoder,the selection of key components was performed through the calculation of the motor torque,the inertia of the load/motor and the calculation of the clamping force of the end effector.In order to ensure the rationality of the design,ADAMS was used to analyze the kinematics and dynamics of the automatic loading and unloading device for encoder circular grating eccentric adjustment.The dynamic and static analysis of the automatic loading and unloading device for encoder circular grating eccentric adjustment was performed using ANSYS,and the strength check of the support frame and the stiffness analysis of the overall structure were completed.The end effector,the first six-order mode of the horizontal push-rod of the automatic loading and unloading device for encoder circular grating eccentric adjustment was determined when it was extended and retracted,and the speed that needed to be avoided during the operation was calculated.Secondly,by using the method of D-H,the kinematics analysis of the automatic loading and unloading device for encoder circular grating eccentric adjustment of encoder was used to solve the inverse and jacobian matrix of the automatic loading and unloading device for encoder circular grating eccentric adjustment.Using the MATLAB robot toolbox to find the robot model,the working space,the motion trajectory of the end-effector and the velocity,acceleration and displacement curve of each axis were obtained.In order to find the relationship between the driving force or the torque and the motion,the Lagrangian dynamics analysis and modeling were performed to achieve optimal control or better dynamic performance.Besides,according to the principle of coordinate transformation,the mathematical model of permanent magnet synchronous motor was established,and the design of current loop regulator and speed loop regulator was completed.In the environment of Matlab/Simulink simulation software,the simulation model of the permanent magnet synchronous motor vector control system based on SVPWM algorithm has been established.The simulation results verified that the control system had good anti-jamming capability and dynamic performance.Finally,the hardware of the automatic loader control system was set up,and the software program of the control system was programmed,including the origin reset program,automatic running program and manual program,etc.The human-computer interaction interface was programmed.The repeatability of each axis was measured by the spectral confocal displacement sensor,and the accuracy of he automatic loading and unloading device for encoder circular grating eccentric adjustment was verified.