CN104097207A - Manipulator control system - Google Patents
Manipulator control system Download PDFInfo
- Publication number
- CN104097207A CN104097207A CN201410299975.9A CN201410299975A CN104097207A CN 104097207 A CN104097207 A CN 104097207A CN 201410299975 A CN201410299975 A CN 201410299975A CN 104097207 A CN104097207 A CN 104097207A
- Authority
- CN
- China
- Prior art keywords
- manipulator
- pneumatic means
- control system
- position sensor
- manipulator control
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a manipulator control system, comprising a PLC (Programmable Logic Controller), a control board, a solenoid valve and a position sensor, wherein the PLC is arranged in a manipulator control console, the control board is arranged on the control console, air pressure is controlled by the solenoid valve to realize the horizontal motion of a vertical pneumatic device and the horizontal motion of a horizontal pneumatic device, suction and release of a manipulator vacuum cup are controlled by the solenoid valve, and the position sensor is used for detecting the positions of a workpiece and a manipulator feed plate. Through the way, the manipulator control system disclosed by the invention is high in efficiency, flexible in use and low in program maintenance cost, and the stamping automatic production is realized.
Description
Technical field
The present invention relates to press machine mechanical hand field, specifically, is a kind of manipulator control system based on PLC.
Background technology
Material taking/feeding manipulator is the machinery being equipped with for forcing press automation mechanized operation, and it can reduce labor intensity, and improves working conditions, and realizes safety in production, by the loading and unloading of high-speed and high-efficiency, can improve the production efficiency of forcing press, reduces production costs.
Existing machinery hand control generally adopts single-chip microcomputer as control module, and mcu programming complexity, once break down or the change of manipulator task, needs professional's coding again, and single-chip microcomputer is easy care not, and use cost is high.
Summary of the invention
It is strong that the technical problem to be solved in the present invention is to provide a kind of applicability, easy to maintenance, the manipulator control system that production cost is low.
Object of the present invention can be achieved through the following technical solutions:
A kind of manipulator control system, comprise PLC, control panel, magnetic valve and position sensor, described PLC is arranged in manipulator control platform, and described control panel is arranged on manipulator control platform, and described position sensor is arranged on the horizontal pneumatic means of manipulator, vertical pneumatic means and mould.
Described magnetic valve comprises two position three-way valve, two-port valve and three position five-way valve, and described two position three-way valve is arranged on vertical pneumatic means, and two-port valve is arranged on manipulator vacuum cup, and described three position five-way valve is arranged on horizontal pneumatic means.
Adopt the beneficial effect of technique scheme to be: by the horizontal pneumatic means of PLC controller control manipulator and vertical pneumatic means, absorption and the release of solenoid control manipulator vacuum cup, realizing manipulator automatically controls and fetches and delivers material, the present invention is safe and reliable, program maintenance cost is low, is applicable to other like product Sheet Metal Forming Technology requirement.
Brief description of the drawings
Fig. 1 is the hardware chart of manipulator control system of the present invention.
Fig. 2 is the control flow chart of manipulator control system of the present invention.
Detailed description of the invention
Below in conjunction with Figure of description, preferred embodiment of the present invention is described in further detail, but embodiments of the present invention are not limited to this.
As Fig. 1, shown in Fig. 2, manipulator control system comprises PLC1, control panel 2, magnetic valve and position sensor, PLC1 is arranged in manipulator control platform, PLC1 adopts SIEMENS S 7-200, control panel 2 is arranged on manipulator control platform, position sensor is arranged on the horizontal pneumatic means of manipulator, on the patrix of vertical pneumatic means and mould, position sensor is used for detecting the horizontal pneumatic means of manipulator, the position of vertical pneumatic means and mould, magnetic valve comprises two position three-way valve, two-port valve and three position five-way valve, the lifting of the vertical pneumatic means of two position three-way valve control, for example: in the time of the power-off of decline magnetic valve energising rising magnetic valve, vertical pneumatic means declines, in the time of the power-off of decline magnetic valve power-off rising magnetic valve, vertical pneumatic means declines and stops, in the time of the power-off of rising magnetic valve energising decline magnetic valve, vertical pneumatic means rises, in the time of the power-off of rising magnetic valve power-off decline magnetic valve, vertical pneumatic means rises and stops, absorption and the release of two-port valve control manipulator vacuum cup, the horizontal movement of three position five-way valve level of control pneumatic means.
Operation principle: after equipment power-on, detected the position of each device by each position sensor before operation, guarantee that each movement parts is for initial position.After device initialize, press the run switch on control panel 2, PLC1 provides signal, the vacuum cup of the vertical pneumatic means promotion robot of two position three-way valve control moves downward, in the time that sensor detects workpiece, vertical pneumatic means stop motion, vacuum cup absorption workpiece, vertical pneumatic means returns, the horizontal pneumatic means delivery sheet of arrival stops behind following 10 millimeters of positions, whether the delivery sheet of detection level pneumatic means is in initial position again, if, continue upwards, in the time that the approach switch on vertical pneumatic means is encountered delivery sheet, approach switch feeds back to PLC1, PLC1 controls vacuum cup and discharges workpiece, control the energising of delivery sheet lower surface electromagnet block simultaneously, make absorption of workpieces at delivery sheet lower surface, be adsorbed onto by vacuum cup in the process of release at workpiece, whether position sensor detects workpiece always and is adsorbed and drops, horizontal pneumatic means promotes delivery sheet and enters in mould, confirm by position sensor whether delivery sheet is in mould, if, the counterdie of mould rises positioning guide column, delivery sheet lower surface power-off simultaneously, workpiece drops into lower mould, the energising of delivery sheet upper surface, absorption patrix finished work, and delivery sheet is back to initial position, in return course, by lever, finished work is blocked, finished work drops on three guide rods of finished product heap, PLC1 counts once simultaneously.
It is more than the automatic feeding process of one-time mechanical hand of control of the present invention.
Above-mentioned by reference to the accompanying drawings to invention be exemplarily described; obviously specific implementation of the present invention is not subject to the restrictions described above; as long as this non-essential improvement that has adopted method design of the present invention and technical scheme to carry out; or without improving, the design of invention and technical scheme are directly applied to other occasions, all within protection scope of the present invention.
Claims (2)
1. a manipulator control system, it is characterized in that, comprise PLC, control panel, magnetic valve and position sensor, described PLC is arranged in manipulator control platform, described control panel is arranged on manipulator control platform, and described position sensor is arranged on the horizontal pneumatic means of manipulator, vertical pneumatic means and mould.
2. a kind of manipulator control system according to claim 1, it is characterized in that, described magnetic valve comprises two position three-way valve, two-port valve and three position five-way valve, described two position three-way valve is arranged on vertical pneumatic means, two-port valve is arranged on manipulator vacuum cup, and described three position five-way valve is arranged on horizontal pneumatic means.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410299975.9A CN104097207A (en) | 2014-06-25 | 2014-06-25 | Manipulator control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410299975.9A CN104097207A (en) | 2014-06-25 | 2014-06-25 | Manipulator control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104097207A true CN104097207A (en) | 2014-10-15 |
Family
ID=51665950
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410299975.9A Pending CN104097207A (en) | 2014-06-25 | 2014-06-25 | Manipulator control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104097207A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104711899A (en) * | 2015-02-18 | 2015-06-17 | 周迪 | Ancient book repair method based on optical detection machine hand |
| CN104786089A (en) * | 2015-04-16 | 2015-07-22 | 深圳市京田精密科技有限公司 | Control system and method for mechanical arm |
| CN105798911A (en) * | 2016-05-13 | 2016-07-27 | 韩永亮 | Mechanical arm moving control system for automatic lathe |
| CN107774504A (en) * | 2016-08-26 | 2018-03-09 | 昆山汉鼎精密金属有限公司 | Automation point plastic structure |
| CN108082606A (en) * | 2016-11-23 | 2018-05-29 | 海南大学 | The automatic control system that a kind of natural rubber drying production line blob of viscose is weighed and is packaged |
| CN109991919A (en) * | 2019-04-30 | 2019-07-09 | 扬力集团股份有限公司 | A kind of press machine connection line control system based on DP communication spoke processing |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002182047A (en) * | 2000-12-11 | 2002-06-26 | Hitachi Ltd | Device and method for mounting plc filter |
| CN1701928A (en) * | 2005-06-13 | 2005-11-30 | 西安思源职业学院 | Full pneumatic combined multifunctional industrial manipulator |
| CN201201242Y (en) * | 2008-04-15 | 2009-03-04 | 上海赛科现代交通设备有限公司 | Charging and blanking manipulator electric-controlled system for straight line motor stator production line |
| CN101876817A (en) * | 2009-04-28 | 2010-11-03 | 上海龙能自动化设备有限公司 | PLC control method and control system thereof |
| CN201776996U (en) * | 2010-08-17 | 2011-03-30 | 山东大学 | Manipulator device capable of automatically clamping labels |
| CN103659810A (en) * | 2012-08-29 | 2014-03-26 | 刘发元 | High-accuracy mechanical arm PLC control system |
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2014
- 2014-06-25 CN CN201410299975.9A patent/CN104097207A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002182047A (en) * | 2000-12-11 | 2002-06-26 | Hitachi Ltd | Device and method for mounting plc filter |
| CN1701928A (en) * | 2005-06-13 | 2005-11-30 | 西安思源职业学院 | Full pneumatic combined multifunctional industrial manipulator |
| CN201201242Y (en) * | 2008-04-15 | 2009-03-04 | 上海赛科现代交通设备有限公司 | Charging and blanking manipulator electric-controlled system for straight line motor stator production line |
| CN101876817A (en) * | 2009-04-28 | 2010-11-03 | 上海龙能自动化设备有限公司 | PLC control method and control system thereof |
| CN201776996U (en) * | 2010-08-17 | 2011-03-30 | 山东大学 | Manipulator device capable of automatically clamping labels |
| CN103659810A (en) * | 2012-08-29 | 2014-03-26 | 刘发元 | High-accuracy mechanical arm PLC control system |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104711899A (en) * | 2015-02-18 | 2015-06-17 | 周迪 | Ancient book repair method based on optical detection machine hand |
| CN104786089A (en) * | 2015-04-16 | 2015-07-22 | 深圳市京田精密科技有限公司 | Control system and method for mechanical arm |
| CN104786089B (en) * | 2015-04-16 | 2017-10-31 | 深圳市京田精密科技有限公司 | The control system and control method of a kind of mechanical arm |
| CN105798911A (en) * | 2016-05-13 | 2016-07-27 | 韩永亮 | Mechanical arm moving control system for automatic lathe |
| CN107774504A (en) * | 2016-08-26 | 2018-03-09 | 昆山汉鼎精密金属有限公司 | Automation point plastic structure |
| CN108082606A (en) * | 2016-11-23 | 2018-05-29 | 海南大学 | The automatic control system that a kind of natural rubber drying production line blob of viscose is weighed and is packaged |
| CN109991919A (en) * | 2019-04-30 | 2019-07-09 | 扬力集团股份有限公司 | A kind of press machine connection line control system based on DP communication spoke processing |
| CN109991919B (en) * | 2019-04-30 | 2020-10-23 | 扬力集团股份有限公司 | Press machine connection control system based on DP communication spoke processing |
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| Date | Code | Title | Description |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20141015 |