自動グリップ装置の試作
Contents
1. Fig 1 Ceneral View of system 2 2 AKI 80 AKI LUNA PROGRAMABILE PULSE CONTROLLER PC2. ON AKI PC PC 3 3 9 1 2 PC S4 1
3. 49N 5KgD 2 8 7 AKI 8 A B I O A B A B PC PC PC AKI 0 1 0 9 Recorder Fig 6 Driving force of cylinoid 33 34 66 2004 1234567 74LCO04 1413121110
4. 2 1 PC 32 1 1996 P 49 60 2 35 2000 P 55 60 3 Z 80 1993 4 1999 5 IC 1989 6 MPC 01
5. 2 Moving direction Rotating direction Rotatmg direction MN mm RI i FER Moving direction Fig 3 Principle of motion 66 2004 2 P 1 2 1 30 A P B 2 C D 2 3 2 3 3 A 1 B D1 D2 B A 1 P
6. C 3 2 6 PC Grip diameter mm 0 2 4 6 8 10 12 PC value Fig Corresponding state of PC value and pipe diameter DC Amplifier 5 PC 2 7 CA 62 12V 245N 25Kgf 5V 6 6
7. 1 32 2 1 PC AKI 1I O A B 5 2 2 PC PC PC 9 2 3 2 3 1
8. B D1 D2 D1 D2 P 1 D1 D2 2 4 1 JA 6 Open the grip Channel B Fixed grip Cylinder b Grip the pipe Fig 4 _ Structure of grip 2 ON OFF 3 4 OFF 2 5 4 4 4 b 4 b 1 B 2
9. 31 Trial Mannfactnre of Automatic Grip Equipment Department of Miachanical Engineering Minoru NOHARA Abstract jn order to manufacture a machine part we fix Darts material by a certain niethod Since parts materiai is fixed automatically we use an air cylinder and soienoid combining clamp equipment Now after we use an air cylinder and fix parts material when manufacturing a machine part a compressor a control vaive and piping are needed Mioreover it serves as large scale equipment On the other hand in the electric cylinder cyiinoid from which parts material changes rotational movement of a motor into a straight line motion and obtains impelling force when it can fix an air cylinder a compressor etc become unnecessary In this paper when the user inputted the value corresponding to the diameter of a pipe into the program controller control equipment manufactured the equipment which holds a pipe automaticaily We report this manufacture process Key Words Micro Computer Operation Control Simulation Automatic Machine 1
10. 958 TH 0 123435367 D 74LCO4 41312 1110 9 8 L Le esser2 1 Fixed grip 4 Photo sensor 1 7 Step motor 10 Limit SW 13 Push SW 2 Mowng grip 5 Limit 2 8 Motor driver 11 Photo sensor 2 14 AKI PC 3 Limit 1 6 Limtt 3 9 Cylinoid trunk 12 Cylinoid motor 115 Fig 8 Appearence of system 35 3 C_Star Step motor back to ORG 3 1 8 PC Arrive at constant Value AKI PC signal out outp 0 _ _ ROM ROM AKI SteD motor go 3 2 Yes 8 PC Table 1 Control program of system No PIOAD equ tch PIO A data Yes PIOAC equ 1dh PIO A control Tinoid motor PIOBD equ 1eh PIO Bdata lt
11. Stop PIOBC equ 1fh PIO Bcontrol ORG 0000h LD SP 0 Set stack point 0 IM 2 Set mode 2 No LD A 11001111b PIOAinitialization Yes OUT PIOAC A mode3dnput Cyhnoid motor stop Stop gt LD A 11111111b OUT PIOAC A LD A 00010111b OUT PIOAO A LD A 00000011b Yes OUT PIOAC A Cylinoid motor back LD A 1100111lb PIO Binitialization OUT PIOBO A mode3 Outpu LD A 00000000b No OUT PIOBC A LD A 00010111b Yes Limit SW on OUT PIOBO A Cylinoid motor stop lt Stop gt LD A 00000011b OCT PIOBC A AKI signal out outp B 2 NN NN TIN A PIOAD Read data from PIOAD 6 a BIT 0 A Sighai OFF from PC PC signal in inp 0 lt JP Z D0 go to DO 0 IN A PIOAD Read data from PIOAD Ye BIT 1 A Photo sensor 2 ON D Step motor back to ORG JP NZ D2 goto D2 C Stop gt LD A O01H Cylincid motor OUT PIOBD A CCW rotation CALL O1 Call 1 JP Di Go to Di IN A PIOAD Read data from PTOAD Fig 9 Diagram of flow chart 36 nl Photo sensor 1 ON go to D3 Cylinoid motor CW rotation Call 1 Go to D2 Cylinoid motor stop Read data from PIOAD Push SW OFF go to D30 Read data from PIOAD Photo sensor 2 ON go to D5 CyHinoid motor CCW rotation Call O1 Go to D4 Read data from PIOAD Signal out send to PC Go to DD Set B on 15 Set C on 250 Set D on 250 D 1 D 0then go to T2 Ci C 0then go to T1 B 1 B 0then go to TO Return Read
12. data from PIOAD Limit SW ON go to O2 Return Cylinoid motor stop Program stop BIT 2 A JP NZ D3 LD A 02H OUT PIOBD A CALL O1 JP D2 LD A 00H OUT PIOBD A IN A PIOAD BIT 3 A JP Z D30 IN A PIOAD BIT1 A JP NZ D5 LD A 01H OUT PIOBD A CALL O1 JP D4 IN A PIOAD LD A 04H OUT PIOBD A JP DD LD B 15 LD C 250 LD D 250 DEC D JP NZ T2 DECC JP NZ T1 DEC B JP NZ TO RET IN A PIOAD BIT 4 A JP NZ O2 RET LD A 00H OUT PIOBD A HAIT Table 2 Programable controler program Tabal ORG 0 Return to origin 123 Value of ring size FUN 200 Output bort 0 to ON Output port 0 to OFF Wait for port 0 ON Return to origin End FUN 300 FUN 000 ORG 0 END PC 66 2004 PC AKI AKI
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