www.public4you.fora.pl

px941934

Plane bending conveyor and its application

dy0fPMAC-basedMotionControlSystemforPaintingRobotLIUDong-gen,[link widoczny dla zalogowanych], WUXiang-iei. ZHANGTie. XIECun a (CollegeofMechanicalEngineering, SouthChinaUniversityofTechnolo ~-Guangzhou510640, China) Abstract: Thesix-DOFpaintingrobotkinematicsmodelwassetuDthroughD-Hmethod. Thepositionandpostureequationsweregivenapartbasedonrotarytensormethod. andtherobotkinematicswereanalyzed. AnopenarchitectureofrobotmotioncontrolsystembasedonPMAC. Thesystemhadmettherequiringofreal-timecontro1. Keywords: paintingrobot; PAMC; kinematicsanalysis; motioncontrolsystem; positioncontrol0 introduction robot control system is a typical multi-axis motion control system in real time. In this paper, six degrees of freedom robot mechanical spraying on the basis of the main structure, the use of D-H coordinate system to establish the kinematics model, and spin tensor are given the location of the spraying robot equation and attitude equations to solve the robot kinematics solutions, and establish the basis for motion control. The next proposed PMAC motion control card based on an open robot motion control system architecture design,[link widoczny dla zalogowanych], using where | s - turning conveyor section of the maximum tension, N; - outside of the horizontal conveyor belt clip angle ,(。)。 Through the above calculation, meet three conditions to determine the minimum turning radius R = max {, 2,[link widoczny dla zalogowanych],3} (7) 3 run of conveyor plane bending of several factors (1) In the turn section, carrying and return air The smaller the distance between rollers of the branch, after adjustment, debugging easier, more stable running conveyor belt. But not too close, otherwise the resistance increases,[link widoczny dla zalogowanych], resulting in bending radius. According to experience, generally the distance between rollers bearing branch of Z: 0.75 ~ 1m, back to the empty branches of the distance between rollers = 1.5 ~ 2m. The length of the underground conveyor rack is generally a set of 3m, so the length of the rack with support to be within the curve of elevation angle and the angle y for the corresponding transformation. (2) When the turn into the groove section with increasing angle and elevation angle y with the curve, the turn around to have a section of the transition section, in the transition section, usually by = 1m, / -= 2m considered inside the rack the elevation gradient generally take 5% 0 8% 0. (3) because the turn is to install support for the measures taken within the curve angle and elevation angle y, the former is a necessary condition, which, as the case may be, it is very important value, usually taken = 0,5. Maximum of not more than l. ;), = 0 ~ 5. Maximum of not more than 7. . (4) and the return of roller bearing idler axis in the mounting bracket to ensure a certain amount of swing. 4 Conclusion plane bending conveyor is based on principles of mechanical equilibrium of the natural changes designed to turn conveyor, simple structure, easy maintenance, adapted to the curved roadway, reduce the reserved point, to improve the safety factor, is a more suitable mine the actual situation of new, efficient coal transport equipment, and has broad prospects for development. References: [1] Chen Weijian, Qixiu Li, Xiao Lin Jing, et al. Mine transport and lifting equipment [M]. Xuzhou: China University of Mining Press, 2007.2] Ma Qinglin. Research and application of belt conveyors turning [J]. Mining machinery, 2006 (11) :94-95. [3] Mao Jun, Xia Qiuzhong. Turning conveyor section of plane bending force of [J]. Coal Mine Machinery,[link widoczny dla zalogowanych], 2oo6 (4) :599-6oi. About the author: solemn (1967 a), Yunnan Qujing, Master, Associate Professor, Research interests: mining transport and lifting equipment, Tel: O874-6110533, E-mail: zhy0713 @ 163. C0120. ~ Ll0 a Received :2007.10-10
More articles related to topics：

cheap ugg boots Improved ART2 Neural Network Based

ugg boots sale Why Education & Work Experiences Ar

ugg boots sale Based on Pro E software dedicated