CN103659810A

CN103659810A - High-accuracy mechanical arm PLC control system

Info

Publication number: CN103659810A
Application number: CN201210315741.XA
Authority: CN
Inventors: 刘发元
Original assignee: Individual
Current assignee: Individual
Priority date: 2012-08-29
Filing date: 2012-08-29
Publication date: 2014-03-26

Abstract

The invention belongs to the technical field of mechanical arm control systems, and discloses a high-accuracy mechanical arm PLC control system. The high-accuracy mechanical arm PLC control system comprises a stepping motor driver (1), a pulse distributor (2), an NC 111 module (3) and an external input (10), and is characterized in that the stepping motor driver (1) is connected with the pulse distributor (2), one end of the NC 111 module (3) is connected with the external input (10), the other end of the NC 111 module (3) is connected with a PC (11), and the stepping motor driver (1) is used for controlling a mechanical arm to stretch, retract, lift, rotate and grip objects. The high-accuracy mechanical arm PLC control system effectively improves the locating accuracy of the mechanical arm, reduces impact, can achieve accurate locating and rapid response, and is applicable to various working environments and requirements.

Description

A kind of high-precision manipulator PLC control system

Technical field

The technology of the present invention relates to the technical field of manipulator control system, relates in particular to a kind of high-precision manipulator PLC control system.

Background technology

In modern industry, the mechanization of production process, automation have become the main body of protrusion.Along with further developing of the modernization of industry, automation has become the mainstay in modern enterprise, between unmanned vehicle, unmanned production line etc., is seen everywhere.Meanwhile, in modern production, exist various production environments, as high temperature, radioactivity, toxic gas, pernicious gas occasion and underwater operation etc., these severe production environments are unfavorable for manually operating.Industry mechanical arm is in automation field in modern age, to occur a new technology, is the modern important component part in manufacture system of controlling.Industry mechanical arm is one of effective means that improves Automation of Manufacturing Process, improves working conditions.Especially at high temperature, high pressure, dust, noise and with the occasion of active pollution, apply more extensively, and obtain certain effect, be subject to the attention of mechanical industry and railway industry part.

Manipulator is the part action of imitating staff, by preset sequence, track and requirement, realizes robot apparatus.In production, application machine hand can improve the gentle labor productivity of Automated water of production; Can reduce labor intensity, guarantee product quality, realize safety in production; Especially high temperature, high pressure, low temperature, low pressure, dust, explosive, have in the rugged environments such as poison gas and radioactivity, it replaces people to work normally, meaning is more great.Therefore, in machining, punching press, casting, forging, welding, heat treatment, electroplate, spray paint, the aspect such as assembling and light industry, transportation obtains quoting more and more widely.

Universal and development along with industrial automation, the demand of controller increases year by year, the application of conveying robot is also universal gradually, mainly at automobile, electronics, the production line of machining, food, medicine and other fields or cargo handling allocation and transportation, the efficiency that can save better the energy and raising transporting equipment or product, to reduce restriction and the deficiency of other mode of transport, meet the requirement of modern Economy Development.The automatic pilot of manipulator in order to capture, to carry object or operation tool by fixed routine, it can replace people's heavy work to realize mechanization and the automation of producing, and can under hostile environment, operate with protection personal safety.Before programmable controller comes out, in industrial control field, be that Control is occupied an leading position.Common relay is due to each side restrictions such as its volume and interfaces, often be applied to the simple electric and Pipeline control of action, but traditional relay control device volume is large, response speed compared with slow, precision is not high, location inaccuracy, power consumption is more, function is few, particularly because it is by hardware line construction system, wiring is numerous and diverse, when production technology or control object change, be not easy to change thereupon or more change jobs, versatility and flexibility are poor.

Summary of the invention

The object of the invention is to provide a kind of PLC control system of utilizing Computer Control Technology, after this control system, can make the control line of manipulator be simplified, automaticity improves, not only can reduce workman's labour intensity, reach safe and reliable production requirement, can also make manipulator improve precision, reduce and impact, accurately location, responds fast, adapts to different work environment and needs.

To achieve these goals, technical solution of the present invention is specific as follows:

A kind of high-precision manipulator PLC control system comprises: stepper motor driver 1, pulsqe distributor 2, NC111 module 3, outside input 10, is characterized in that: stepper motor driver 1 is connected with pulsqe distributor 2; NC111 module 3 one end are connected with outside input 10, and the other end is connected with PC11; The motion of flexible, the lifting of manipulator, rotating disk, handgrip is controlled by stepper motor driver 1.

The input signal of described stepper motor driver 1 is to be provided by the NC111 module 3 on PLC.

The input signal of described stepper motor driver 1 comprises: stepping pulse signal CP, direction level signal DIR, off line signal FREE.Stepping pulse signal CP is for position and the speed of control step motor driver 1; Direction level signal DIR is for the direction of rotation of control step motor driver 1; Off line signal FREE is used for controlling manual adjustments stepper motor driver 1.

Described NC111 module comprises: I/O connector 4, impulse generator 5, EBI 7, I/O interface 6, processor 8, memory 9.

Described I/O connector 4 is connected with pulsqe distributor 2, and accepts the signal from outside input 10; EBI 7 one end are connected with PC11, and the other end is connected with impulse generator 5, mutually receive and feedback signal; PC11 is connected with EBI 7, mutually receives and feedback signal; EBI 7, processor 8, memory 9 are connected with I/O interface 6 with impulse generator 5 jointly, and mutually receive and feedback signal.

The present invention work process in, NC111 module 3 be manipulator PLC control system of the present invention for the intelligent cell of position and action control, can be stepper motor driver 1 output signal, with position and the speed of controlled motion parts.The processor 8 and the memory 9 that in NC111 module 3, arrange, processor 8 is used for controlling the movement position of manipulator, memory 9 there is memory function, constantly and processor 8 exchange messages, after information is passed to console outside, the control instruction of sending according to PC11 and the signal receiving are made corresponding reaction; Impulse generator 5 in NC111 module 3 and I/O interface 6, it is connected with exterior PC 11 by the circuit of general line interface 7 on the one hand, with processor 5 frequent exchange information, receives outside input and output pulse again on the other hand by I/O connector 1.The control instruction that the position of manipulator and speed control unit send according to PC and the signal receiving, make response fast, thereby realize the action in each orientation of manipulator.

Compared with prior art, beneficial effect of the present invention is:

A kind of high-precision manipulator PLC control system of the present invention has adopted NC111 module 3 can effectively improve the antijamming capability of system as the intelligent cell of position of manipulator and action control, the call duration times such as PLC reading and writing can be controlled accurately, thereby improved response speed and the running precision of manipulator; PLC is an integration module, and it is little, lightweight, low in energy consumption that it has volume, and this manipulator PLC control system forms simply, highly versatile, and programming is convenient, and operation and maintenance is also easier to.

Accompanying drawing explanation

Fig. 1 is the structured flowchart of NC111 module controls stepper motor driver.

Fig. 2 is the circuit theory diagrams of manipulator PLC control system work.

Fig. 3 is manipulator behavior flow chart.

As shown in the figure: 1, stepper motor driver, 2, pulsqe distributor, 3, NC111 module, 4, I/O connector, 5, impulse generator, 6, I/O interface, 7, EBI, 8, processor, 9, memory, 10, outside input, 11, PC.

The specific embodiment

Below in conjunction with accompanying drawing, the present invention is described further:

A kind of high-precision manipulator PLC control system comprises: stepper motor driver 1, pulsqe distributor 2, NC111 module 3, I/O connector 4, impulse generator 5, I/O interface 6, EBI 7, processor 8, memory 9, outside input 10, PC11.Stepper motor driver input signal is controlled by NC111 module 3.The input signal of stepper motor driver comprises: stepping pulse signal CP, direction level signal DIR, off line signal FREE; NC111 module 3 comprises: I/O connector 4, impulse generator 5, I/O interface 6, EBI 7, processor 8, memory 9.

External input signal, carries out concrete location algorithm by self CPU, and according to output control impulse generator 5 output umber of pulse and the frequencies of carrying out.NC111 module 3 has alleviated the burden of host CPU, and it is final still as an intelligent interface unit of C200HPC, takies corresponding I/O address.NC111 module 3 is inserted in the base tub of PC11, by 40 core plugs, is connected with exterior I/O.NC111 module 3 receives outside action button, the signal of limit switch, output pulse signal, user is by PC11 to NC111 parameters and give an order, and NC111 module 3 can automatically be adjusted and control output according to the order of on-the-spot detection signal and PC11, reaches accurate location.

Stepping pulse signal CP is for position and the speed of control step motor driver 1, that is to say that CP pulse of the every acceptance of driver is with regard to a step angle of Driving Stepping Motor rotation, change the frequency of CP pulse, can change the rotating speed of stepper motor, the number of controlling CP pulse, can make stepper motor driver accurately locate.So just can reach very easily the object of stepper motor speed governing and location.The CP signal of this stepper motor driver is Low level effective, and the drive current that requires CP signal is 8-15mA, and the pulse width of CP is also had to certain requirement, is generally not less than 5 μ S.

Direction level signal DIR is for the direction of rotation of control step motor driver 1.When this signal is high level, motor forward; During for low level, motor reversal.Motor will turn to, and must after motor stops, carrying out.

Off line level signal FREE is for after driver powers on, and stepper motor is in the lock state (while not applying CP pulse) or running status (while applying CP pulse), can use FREE signal, manually adjusts motor and Down Drive not.

Stepping pulse signal CP, direction level signal DIR and off line signal FREE, they access negative input end by the current-limiting resistance of 270 Ω respectively in internal drive, and circuit form is identical.OPTO end is the public anode (the anode inputs of 3 road optocouplers) of 3 road signals, and 3 road input signals are connected into common anode mode in internal drive, so OPTO end must meet the VCC of external system, if VCC is+5V directly to access; If VCC is not +5V, need outside separately to add current-limiting resistance R, guarantee to provide the drive current of 8-15mA to internal drive optocoupler.

Shown in Fig. 3, manipulator behavior flow process comprises: decline, clamping, rising, slow-motion, F.F., slow-motion, time delay, decline, loosen, rise, move back slowly, rewind down, move back slowly, these actions are all controlled by PLC system, its mode of operation comprises: return original position, manually, single step, monocycle, continuously, meet the various operations in production.First carry out the restarting and former point search of flexible, lifting, rotating disk and handgrip of manipulator; Forward, rotating disk turns clockwise the telescopic arm of manipulator simultaneously, while running to respectively the output pulse number arranging in NC111 module 3positioning action#0, stops always; Manipulator declines, and when dropping to the output pulse number arranging in NC111 module 3positioning action#0, stops; Handgrip electromagnetic brake starts, and handgrip promptly, is picked up goods A; Former point search is carried out in the lifting of manipulator; Backward, rotating disk is rotated counterclockwise the telescopic arm of manipulator simultaneously, while running to respectively the output pulse number arranging in NC111 module 3positioning action#1, stops always; Manipulator declines, and when dropping to the output pulse number arranging in NC111 module 3positioning action#1, stops; Handgrip electromagnetic brake starts again, and handgrip loosens, and goods A puts down; Again the lifting of manipulator is carried out to former point search; The telescopic arm of manipulator, rotating disk carry out former point search, all reset.

Claims

1. a high-precision manipulator PLC control system comprises: stepper motor driver (1), pulsqe distributor (2), NC111 module (3), outside input (10), is characterized in that: stepper motor driver (1) is connected with pulsqe distributor (2); NC111 module (3) one end is connected with outside input (10), and the other end is connected with PC (11); The motion of flexible, the lifting of manipulator, rotating disk, handgrip is controlled by stepper motor driver (1).

2. a kind of high-precision manipulator PLC control system as claimed in claim 1, is characterized in that: the input signal of stepper motor driver (1) is to be provided by the NC111 module (3) on PLC.

3. a kind of high-precision manipulator PLC control system as claimed in claim 1, is characterized in that: the input signal of described stepper motor driver (1) comprising: stepping pulse signal CP, direction level signal DIR, off line signal FREE; Stepping pulse signal CP is for position and the speed of control step motor driver (1); Direction level signal DIR is for the direction of rotation of control step motor driver (1); Described off line signal FREE is used for controlling manual adjustments stepper motor driver (1).

4. a kind of high-precision manipulator PLC control system as claimed in claim 1, is characterized in that: described NC111 module comprises: I/O connector (4), impulse generator (5), EBI (7), I/O interface (6), processor (8), memory (9).

5. a kind of high-precision manipulator PLC control system as described in claim 1 or 4, is characterized in that: I/O connector (4) is connected with pulsqe distributor (2), and accepts the signal from outside input (10); EBI (7) one end is connected with PC (11), and the other end is connected with impulse generator (5), mutually receives and feedback signal; PC (11) is connected with EBI (7), mutually receives and feedback signal; EBI (7), processor (8), memory (9) are connected with I/O interface (6) with impulse generator (5) jointly, and mutually receive and feedback signal.

6. a kind of high-precision manipulator PLC control system as claimed in claim 1, it is characterized in that: the whole motion flow of described PLC system control machine tool hand, comprise: decline, clamping, rising, slow-motion, F.F., slow-motion, time delay, decline, loosen, rise, move back slowly, rewind down, move back slowly, its mode of operation comprises: return original position, manually, single step, monocycle, continuously, meet the various operations in production.