CN105643595A - Hydraulic carrying manipulator based on PLC - Google Patents
Hydraulic carrying manipulator based on PLC Download PDFInfo
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- CN105643595A CN105643595A CN201410639402.6A CN201410639402A CN105643595A CN 105643595 A CN105643595 A CN 105643595A CN 201410639402 A CN201410639402 A CN 201410639402A CN 105643595 A CN105643595 A CN 105643595A
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Abstract
The invention discloses a hydraulic carrying manipulator based on a PLC. The hydraulic carrying manipulator based on the PLC is mainly composed of a big arm, a stand column, a base, a gripper telescopic cylinder, a small arm lifting cylinder, a big arm supporting device, a big arm rotation cylinder and a gripper. A driving system of the manipulator adopts fully-hydraulic driving, so that motion rapidness and stableness of a whole machine are guaranteed, and especially the requirements for motion precision of lifting of a small arm of the manipulator and rotating of the big arm of the manipulator are met. The hydraulic carrying manipulator based on the PLC has the characteristics that the structure is simple, operation is stable, precision is reliable, and a hydraulic system operates stably; by adoption of the PLC control, an electrical control system is simplified, so that the manipulator works more stably, more reliably and more flexibly, and the working efficiency is remarkably improved.
Description
Technical field
The present invention relates to a kind of conveying robot, especially relate to a kind of hydraulic pressure conveying robot based on PLC.
Background technology
Industrial machinery hand is the automatic equipment that advanced manufacture field is indispensable, applies more and more extensive. Along with the development of computer technology, programmable controller PLC has developed rapidly, changes the looks of yard automatic control system. Compared with Control, the advantages such as PLC has reliability height, immunity from interference is strong, sequence of control is variable, unlimited number of contacts, programming is simple, expansion is convenient, volume is little, so it is progressively replacing the control of traditional rly. contact.
Summary of the invention
The present invention provides a kind of hydraulic pressure conveying robot based on PLC, and structure is simple, stable working, and precision is reliable, and the hydraulic efficiency system of this mechanical manipulator is stable; Have employed PLC control, simplify electrical control system, more stable, reliable, flexible, the working efficiency of mechanical manipulator work is significantly improved.
The technical solution adopted in the present invention is:
The one-piece construction of the present invention is in the following way: be made up of parts such as large arm, column, base, hand pawl telescopic oil cylinder, forearm lifting oil cylinder, large arm bracing or strutting arrangement, large arm angling cylinder and hand pawls. What the hand of mechanical manipulator adopted is three-jaw inner bearing type structure. The flexible of hand pawl relies on the up and down motion with the hand joining conical surface push rod of pawl telescopic oil cylinder piston rod to realize. The forearm lifting oil cylinder of mechanical manipulator is double rod cylinder, and nests together with hand pawl telescopic oil cylinder. The revolution of mechanical manipulator large arm be rely on band tooth bar without bar piston oil-cylinder, realized by gear mechanism and support roller structure.
Described mechanical manipulator is cylindrical coordinate type, has 2 degree of freedom, and its control locator means is many point position controls, and type of drive adopts hydrostatic transmission, points the function having clamping, loosening, and arm has function flexible, pivotal.
Described mechanical manipulator working cycle is as follows: when workpiece and retinue fixture thereof are delivered to discharging station by automation line part conveying belt, and clamp after mechanism unclamps workpiece, Controlling System sends instruction, makes the forearm lifting oil cylinder of unloading manipulator that hand drop to feeding position. When the location pressure dish on hand part top locate after, hand pawl telescopic oil cylinder, piston rod together with under conical surface push rod move, 3 hand pawls of inner bearing type hand are deep in the empty groove in workpiece, Workpiece clamping. Little arm lifting oil cylinder rises, and workpiece is lifted to setting height, and big arm turns round 110 ��, moves, accurately be put on discharging platform by workpiece under little arm lifting oil cylinder.Workpiece is unclamped by finger retraction, little arm rises, and big arm opposite direction turns round 110 �� of resets, and a working cycle terminates.
The drive system of described mechanical manipulator adopts full hydraulic drive, ensure that complete machine action is rapidly, steadily, particularly meets the lifting of mechanical manipulator forearm and the pivotal operation precision requirement of large arm. In the working process of mechanical manipulator, forearm lifting is frequent, in order to save energy, reduces system heat generation, so adopting pair vane pump in hydraulic efficiency system. Within the system, by regulating, speed-regulating valve obtains different travelling speed in the motion of mechanical manipulator. The commutation of each oil cylinder, is realized by 3 two-position five-way solenoid operated directional valves.
The action executing process of described mechanical manipulator is as follows: system starts; mechanical manipulator is in waiting status; when acquisition feeding signal; mechanical manipulator starts action; from initial point by automatic circulating operation, until accepting stop signal, mechanical manipulator is after the work completing last cycle; return initial point, mechanical manipulator auto stop.
The invention has the beneficial effects as follows: structure is simple, stable working, precision is reliable, and the hydraulic efficiency system of this mechanical manipulator is stable; Have employed PLC control, simplify electrical control system, more stable, reliable, flexible, the working efficiency of mechanical manipulator work is significantly improved.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the present invention is further described.
Fig. 1 is the Production Line Configured figure of the present invention.
The mechanical manipulator that Fig. 2 is the present invention is always schemed.
Fig. 3 is the mechanical hand hydraulic schematic diagram of the present invention.
Fig. 4 is the mechanical manipulator PLC pilot circuit ladder diagram of the present invention.
Embodiment
Below in conjunction with drawings and Examples, the invention will be further described.
Such as Fig. 1, workpiece and retinue fixture adopt step type conveying belt to realize the automatic transport between each lathe. Conveying robot 1,2 lays respectively at material loading and the discharging station at production line two ends, in order to realize the automatic loading and unloading of workpiece. Conveying robot 1(material loading) block construction and operating principle and conveying robot 2(discharging) identical.
Such as Fig. 2, this mechanical manipulator is made up of parts such as large arm 1, column 2, base 3, hand pawl telescopic oil cylinder 4, forearm lifting oil cylinder 5, large arm bracing or strutting arrangement 6, large arm angling cylinder 7 and hand pawls 8. What the hand of mechanical manipulator adopted is three-jaw inner bearing type structure, and the flexible of hand pawl relies on the up and down motion with the hand joining conical surface push rod of pawl telescopic oil cylinder piston rod to realize. The forearm lifting oil cylinder of mechanical manipulator is double rod cylinder, and nests together with hand pawl telescopic oil cylinder. The revolution of mechanical manipulator large arm be rely on band tooth bar without bar piston oil-cylinder, realized by gear mechanism and support roller structure.
Such as Fig. 2, mechanical manipulator working cycle is as follows: when workpiece and retinue fixture thereof are delivered to discharging station by automation line part conveying belt, and clamping after mechanism unclamps workpiece, Controlling System sends instruction, makes the forearm lifting oil cylinder 5 of unloading manipulator that hand drop to feeding position. When the location pressure dish on hand is after part top is located, the piston rod of hand pawl telescopic oil cylinder 4 moves together with under conical surface push rod, 3 hand pawls 8 of inner bearing type hand is deep in the empty groove in workpiece, Workpiece clamping. Little arm lifting oil cylinder 5 rises, and workpiece is lifted to setting height, and big arm turns round 110 ��, and little arm lifting oil cylinder moves for 5 times, accurately is put on discharging platform by workpiece. Workpiece is unclamped by finger retraction, little arm rises, and big arm opposite direction turns round 110 �� of resets, and a working cycle terminates.
Such as Fig. 3, when system needs little flow, by pump 1 fuel feeding; When system needs large discharge, by pump 1 and pump 2 fuel feeding simultaneously. When unloading manipulator does not work, open safety valve off-load. Within the system, by regulating, speed-regulating valve obtains different travelling speed in the motion of mechanical manipulator. The commutation of each oil cylinder, is realized by 3 two-position five-way solenoid operated directional valves.
Such as Fig. 4, each relief relay in stepping register M100 M117 represents each work step respectively. What M100=ON represented is initial point work step, and what M101=ON represented is forearm descending motion etc. The condition of M100=ON meets initial point detection position LS7(X7) and LS4(X4) all connect, and do not enter other any works following step, namely M101, M102 are until M109 is OFF. And initial point work step to be proceeded to forearm descending motion work step and M101=ON must meet displacement condition PB1(X1) connect.
Claims (5)
1. based on a hydraulic pressure conveying robot of PLC, it is characterized in that: be made up of parts such as large arm 1, column 2, base 3, hand pawl telescopic oil cylinder 4, forearm lifting oil cylinder 5, large arm bracing or strutting arrangement 6, large arm angling cylinder 7 and hand pawls 8; What the hand of mechanical manipulator adopted is three-jaw inner bearing type structure, and the flexible of hand pawl relies on the up and down motion with the hand joining conical surface push rod of pawl telescopic oil cylinder piston rod to realize; The forearm lifting oil cylinder of mechanical manipulator is double rod cylinder, and nests together with hand pawl telescopic oil cylinder; The revolution of mechanical manipulator large arm be rely on band tooth bar without bar piston oil-cylinder, realized by gear mechanism and support roller structure.
2. a kind of hydraulic pressure conveying robot based on PLC according to claim 1, it is characterized in that: described mechanical manipulator working cycle is as follows: when workpiece and retinue fixture thereof are delivered to discharging station by automation line part conveying belt, and clamp after mechanism unclamps workpiece, Controlling System sends instruction, makes the forearm lifting oil cylinder 5 of unloading manipulator that hand drop to feeding position; When the location pressure dish on hand is after part top is located, the piston rod of hand pawl telescopic oil cylinder 4 moves together with under conical surface push rod, 3 hand pawls 8 of inner bearing type hand are deep in the empty groove in workpiece, Workpiece clamping, little arm lifting oil cylinder 5 rises, and workpiece is lifted to setting height, and big arm turns round 110 ��, little arm lifting oil cylinder moves for 5 times, accurately is put into by workpiece on discharging platform; Workpiece is unclamped by finger retraction, little arm rises, and big arm opposite direction turns round 110 �� of resets, and a working cycle terminates.
3. a kind of hydraulic pressure conveying robot based on PLC according to claim 1, it is characterized in that: described mechanical manipulator is cylindrical coordinate type, there are 2 degree of freedom, its control locator means is many point position controls, type of drive adopts hydrostatic transmission, pointing the function having clamping, loosening, arm has function flexible, pivotal.
4. a kind of hydraulic pressure conveying robot based on PLC according to claim 1, it is characterized in that: the drive system of described mechanical manipulator adopts full hydraulic drive, ensure that complete machine action is rapidly, steadily, particularly meets the lifting of mechanical manipulator forearm and the pivotal operation precision requirement of large arm; In the working process of mechanical manipulator, forearm lifting is frequent, in order to save energy, reduces system heat generation, so adopting pair vane pump in hydraulic efficiency system; Within the system, by regulating, speed-regulating valve obtains different travelling speed, the commutation of each oil cylinder in the motion of mechanical manipulator, realizes by 3 two-position five-way solenoid operated directional valves.
5. a kind of hydraulic pressure conveying robot based on PLC according to claim 1, it is characterized in that: the action executing process of described mechanical manipulator is as follows: system starts, mechanical manipulator is in waiting status, when acquisition feeding signal, mechanical manipulator starts action, from initial point by automatic circulating operation, until accepting stop signal, mechanical manipulator, after the work completing last cycle, returns initial point, mechanical manipulator auto stop; When system needs little flow, by pump 1 fuel feeding; When system needs large discharge, by pump 1 and pump 2 fuel feeding simultaneously, when unloading manipulator does not work, open safety valve off-load; Within the system, by regulating, speed-regulating valve obtains different travelling speed in the motion of mechanical manipulator; The commutation of each oil cylinder, is realized by 3 two-position five-way solenoid operated directional valves.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410639402.6A CN105643595A (en) | 2014-11-14 | 2014-11-14 | Hydraulic carrying manipulator based on PLC |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410639402.6A CN105643595A (en) | 2014-11-14 | 2014-11-14 | Hydraulic carrying manipulator based on PLC |
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| CN105643595A true CN105643595A (en) | 2016-06-08 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201410639402.6A Pending CN105643595A (en) | 2014-11-14 | 2014-11-14 | Hydraulic carrying manipulator based on PLC |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106813943A (en) * | 2017-02-10 | 2017-06-09 | 中国东方电气集团有限公司 | A kind of method that dangerization solution based on mobile robot is automatically positioned and quantitatively extracts |
| CN106873588A (en) * | 2017-02-10 | 2017-06-20 | 中国东方电气集团有限公司 | A kind of danger solution extracting method based on mobile robot |
| CN111015731A (en) * | 2020-03-10 | 2020-04-17 | 贵州詹阳动力重工有限公司 | Mechanical arm of mine sweeping vehicle and automatic return control method thereof |
| CN114045382A (en) * | 2021-11-22 | 2022-02-15 | 沈阳睿科自动化设备有限公司 | Automatic quenching production line for automobile parts |
-
2014
- 2014-11-14 CN CN201410639402.6A patent/CN105643595A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106813943A (en) * | 2017-02-10 | 2017-06-09 | 中国东方电气集团有限公司 | A kind of method that dangerization solution based on mobile robot is automatically positioned and quantitatively extracts |
| CN106873588A (en) * | 2017-02-10 | 2017-06-20 | 中国东方电气集团有限公司 | A kind of danger solution extracting method based on mobile robot |
| CN106873588B (en) * | 2017-02-10 | 2020-06-12 | 中国东方电气集团有限公司 | Hazardous chemical solution extraction method based on mobile robot |
| CN111015731A (en) * | 2020-03-10 | 2020-04-17 | 贵州詹阳动力重工有限公司 | Mechanical arm of mine sweeping vehicle and automatic return control method thereof |
| CN114045382A (en) * | 2021-11-22 | 2022-02-15 | 沈阳睿科自动化设备有限公司 | Automatic quenching production line for automobile parts |
| CN114045382B (en) * | 2021-11-22 | 2023-02-28 | 沈阳睿科自动化设备有限公司 | Automatic quenching production line for automobile parts |
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Application publication date: 20160608 |