CN106542330A - A kind of manipulator of magnetic ring conveying based on PLC - Google Patents
A kind of manipulator of magnetic ring conveying based on PLC Download PDFInfo
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- CN106542330A CN106542330A CN201510608399.6A CN201510608399A CN106542330A CN 106542330 A CN106542330 A CN 106542330A CN 201510608399 A CN201510608399 A CN 201510608399A CN 106542330 A CN106542330 A CN 106542330A
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- manipulator
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Abstract
A kind of manipulator of magnetic ring conveying based on PLC, mechanical system is made up of paw and XY motion platforms, action is put in the crawl and piling that magnet ring can be realized, there is provided the selection of the multiple control modes such as overall automatic cycle, manual single step run, increased the flexibility of control system.Magnet ring blanking and the automatic of piling, manual cycle control can be realized.Manipulator claw also has crawl manually and 2 kinds of modes of crawl are selected automatically, so as to increased the flexibility of PIE control systems；Human intervention is not needed using process, the automaticity and product quality of the work of magnet ring blanking piling is improve.
Description
Technical field
The present invention relates to a kind of manipulator, particularly a kind of manipulator of magnetic ring conveying based on PLC.
Background technology
Manipulator is the commonly used a kind of devices that can be captured automatically, operate of Jing in field of industrial automatic control.It is used in the devices such as automatic assembly line, the loading and unloading of automatic machine, the automatic tool changer of numerical control device.Due to the particularity of un-sintered magnet ring, it manually cannot be completed with the carrying for sending to sintering in bar stock cutting by punching, so devising a set of automatic blanking and the manipulator carried.It is to be formed by metal dust compacting before magnet ring is un-sintered, if subjected to radial load can cause deformation, affects product quality, it is impossible to the method for taking mechanical paw to capture.Also to be ensured that speed of production is the capacity that 10 per minute and each pallet guarantee there are 48 magnet rings simultaneously.The magnet ring for passing through compacting is taken out from hydraulic press mould using manipulator, then put, whole process avoids artificial contact, so as to ensure the quality of magnet ring.
The content of the invention
The present invention proposes a kind of manipulator of magnetic ring conveying based on PLC, and mechanical system is made up of paw and XY motion platforms, and action is put in the crawl and piling that can realize magnet ring.Control system coordinates stepping sequence control command programmed method to build control system platform with Panasonic FPO-C32 as core, completes crawl, piling and the release movement circulation of manipulator.Meanwhile, manipulator additionally provides the selection of the multiple control modes such as overall automatic cycle, manual single step run, increased the flexibility of control system.
The technical solution adopted in the present invention is：
Manipulator of magnetic ring conveying is made up of magnet ring grabbing device and XY motion platform two parts, and grabbing device completes picking and placeing for magnet ring, and XY motion platforms realize magnet ring putting on supporting plate.As magnet ring is ferromagnetic material, grabbing device can be in the way of being drawn using magnetic material, it is to avoid the radial force of magnet ring, here using the permanent magnet driven by cylinder.Magnet ring is picked and placeed for convenience, and division board is placed also between magnet steel and magnet ring.Permanent magnet when magnet ring is attracting be not directly inhale together with, but one layer of aluminium sheet that will not be magnetized is spaced in.During installation, very close to magnet ring, when cylinder extends downwardly from being close to aluminium sheet, the suction of permanent magnet holds magnet ring to aluminium sheet, so that magnet ring will not fall down in carrying.When the position put down is reached, cylinder is retracted, and permanent magnet is as away from aluminium sheet, such permanent magnet and magnet ring depart from.
XY motion platforms are controlled by leading screw by two driving stepper motors.After stamping machine completes punching press, to motor, control platform moves to crawl position to XY simultaneously, x drives z to reach above the workbench of stamping machine to cylinder to cylinder, z drives permanent magnet to move downward to cylinder, when permanent magnet and aluminium sheet near when, in the presence of permanent magnet, magnet ring is drawn and completes grasping movement.Then, x retracts to cylinder, and XY stepper motors move to suitable position platform, and z retracts to cylinder and discharges magnet ring, completes the action of putting of magnet ring, and system waits the next action cycle again.
The course of action of the manipulator can be specifically described as：Platform x coordinate positioning → platform Y-coordinate positioning → paw stretches out → completes crawl → paw return → platform Y-direction piling positioning → platform x and positions → discharge workpiece → complete the work period to piling.
According to the action request and pneumatic control principle of manipulator, its electric executive component (various magnetic valves) is using direct current 24V, and arranges green indicating lamp, so as to safe and reliable.
According to aforementioned claim, PLC should have following input signal end：The sensor signal that 9 inspecting manipuator XY are completed to cylinder and stamping machine punching press to extreme position, x to cylinder, z, according further to the requirement of system control, need 2 button signals of START (beginning) and RESET (reset), 1 STOP (stopping) button signal, in addition it is also necessary to 2 AUTO/MAN (automatic/hand) rotary switches for being used for the control machinery hand method of operation.
Output signal end required for PLC：For driving 2 stepper motors to need 2 pulse signals, needing 4 output signals to enabling, the magnetic valve of 2 cylinders needs 4 output signals, 2 START for being used for display working condition, RESET signal indicator lamp, they are respectively intended to indicate START, the closure state of RESET buttons, and 1 crawl to stamping machine completes control signal.As this manipulator requirement action smoothly can be realized, and it is not very high to positioning accuracy request, while stepper motor is in the case of control method is rational, its own precision is also very high.So opened loop control is adopted to XY spindle motors, accuracy guarantee of the control accuracy by stepper motor itself does not add encoder in addition.Analyze from more than, the system need not analogue transformation and storage, it is only necessary to 14 input switch amounts, 11 output switch amounts and 2 pulse output controls, and the sweep speed to PIE and other in terms of without particular/special requirement.Therefore from the PIE of Panasonic FPO-C32 models, it has 16 points of inputs, output, 2 points of pulse outputs at 16 points of, and random access memory is 5000 steps, inside sets counter, timer and various auxiliary relays of abundance etc., with stronger data processing and communication capacity, command function enriches.The logic and the distribution of I/O contacts of PIE and components and parts.
The manipulator is programmed using FPWINGRV2.7 softwares, the several functions such as the powerful achievable test of the software function, online programming, operational diagnostics, and with friendly user interface.It supports various author languages such as ladder diagram, instruction catalogue, SFC.As the course of action of manipulator is sequentially-operating, each step process is on the basis of back action is completed, the operation of next step is carried out again, so selecting stepping sequence control command programmed method, in addition, due to adopting opened loop control, the origin of coordinates first must be voluntarily found during the startup of manipulator and be resetted, therefore motor could be started with the relatively low speed return origin of coordinates first.Program thread：Each output state of manipulator should be considered in programming first, then listing with the state of related each entering apparatus of each output action, and the specific requirement considered by system control, STOP buttons are pressed as worked as, quit work after the work period should have been run at once, press RESET buttons can under-the individual work period in reset.According to the needs of real work, control mode has manually and automatically 2 kinds.
The invention has the beneficial effects as follows：Magnet ring blanking and the automatic of piling, manual cycle control can be realized.Manipulator claw also has crawl manually and 2 kinds of modes of crawl are selected automatically, so as to increased the flexibility of PIE control systems；Human intervention is not needed using process, the automaticity and product quality of the work of magnet ring blanking piling is improve.
Description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is the grasping mechanism schematic diagram of the present invention.
Fig. 2 is the action sequence diagram of the manipulator of the present invention.
Fig. 3 is the PLC of the present invention and the logic line circuit diagram of components and parts and the allocation table of I/O contacts.
Fig. 4 is the control program flow chart of the present invention.
In Fig. 1：1. magnet ring；2. aluminium sheet；3. permanent magnet；4.Z is to cylinder；5.X is to cylinder.
Specific embodiment
The invention will be further described with reference to the accompanying drawings and examples.
As Fig. 1, manipulator of magnetic ring conveying are made up of magnet ring grabbing device and XY motion platform two parts, grabbing device completes picking and placeing for magnet ring, and XY motion platforms realize magnet ring putting on supporting plate.As magnet ring is ferromagnetic material, grabbing device can be in the way of being drawn using magnetic material, it is to avoid the radial force of magnet ring, here using the permanent magnet driven by cylinder.Magnet ring is picked and placeed for convenience, and division board is placed also between magnet steel and magnet ring.Permanent magnet when magnet ring is attracting be not directly inhale together with, but one layer of aluminium sheet that will not be magnetized is spaced in.During installation, very close to magnet ring, when cylinder extends downwardly from being close to aluminium sheet, the suction of permanent magnet holds magnet ring to aluminium sheet, so that magnet ring will not fall down in carrying.When the position put down is reached, cylinder is retracted, and permanent magnet is as away from aluminium sheet, such permanent magnet and magnet ring depart from.
XY motion platforms are controlled by leading screw by two driving stepper motors.After stamping machine completes punching press, to motor, control platform moves to crawl position to XY simultaneously, x drives z to reach above the workbench of stamping machine to cylinder to cylinder, z drives permanent magnet to move downward to cylinder, when permanent magnet and aluminium sheet near when, in the presence of permanent magnet, magnet ring is drawn and completes grasping movement.Then, x retracts to cylinder, and XY stepper motors move to suitable position platform, and z retracts to cylinder and discharges magnet ring, completes the action of putting of magnet ring, and system waits the next action cycle again.
The course of action of manipulator can be specifically described as：Platform x coordinate positioning → platform Y-coordinate positioning → paw stretches out → completes crawl → paw return → platform Y-direction piling positioning → platform x and positions → discharge workpiece → complete the work period to piling.
Such as Fig. 2, according to the action request and pneumatic control principle of manipulator, its electric executive component (various magnetic valves) is using direct current 24V, and arranges green indicating lamp, so as to safe and reliable.
According to aforementioned claim, PLC should have following input signal end：The sensor signal that 9 inspecting manipuator XY are completed to cylinder and stamping machine punching press to extreme position, x to cylinder, z, according further to the requirement of system control, need 2 button signals of START (beginning) and RESET (reset), 1 STOP (stopping) button signal, in addition it is also necessary to 2 AUTO/MAN (automatic/hand) rotary switches for being used for the control machinery hand method of operation.
Output signal end required for PLC：For driving 2 stepper motors to need 2 pulse signals, needing 4 output signals to enabling, the magnetic valve of 2 cylinders needs 4 output signals, 2 START for being used for display working condition, RESET signal indicator lamp, they are respectively intended to indicate START, the closure state of RESET buttons, and 1 crawl to stamping machine completes control signal.As this manipulator requirement action smoothly can be realized, and it is not very high to positioning accuracy request, while stepper motor is in the case of control method is rational, its own precision is also very high.So opened loop control is adopted to XY spindle motors, accuracy guarantee of the control accuracy by stepper motor itself does not add encoder in addition.
Such as Fig. 3, the system does not need analogue transformation and storage, it is only necessary to 14 input switch amounts, 11 output switch amounts and 2 pulse output controls, and the sweep speed to PIE and other in terms of without particular/special requirement.Therefore from the PIE of Panasonic FPO-C32 models, it has 16 points of inputs, output, 2 points of pulse outputs at 16 points of, and random access memory is 5000 steps, inside sets counter, timer and various auxiliary relays of abundance etc., with stronger data processing and communication capacity, command function enriches.The logic and the distribution of I/O contacts of PIE and components and parts.
Such as Fig. 4, it is programmed using FPWINGRV2.7 softwares, the several functions such as the powerful achievable test of the software function, online programming, operational diagnostics, and with friendly user interface.It supports various author languages such as ladder diagram, instruction catalogue, SFC.As the course of action of manipulator is sequentially-operating, each step process is on the basis of back action is completed, the operation of next step is carried out again, so selecting stepping sequence control command programmed method, in addition, due to adopting opened loop control, the origin of coordinates first must be voluntarily found during the startup of manipulator and be resetted, therefore motor could be started with the relatively low speed return origin of coordinates first.Program thread：Each output state of manipulator should be considered in programming first, then listing with the state of related each entering apparatus of each output action, and the specific requirement considered by system control, STOP buttons are pressed as worked as, quit work after the work period should have been run at once, press RESET buttons can under-the individual work period in reset.According to the needs of real work, control mode has manually and automatically 2 kinds.
Claims (4)
1. a kind of manipulator of magnetic ring conveying based on PLC, is characterized in that：The manipulator of magnetic ring conveying is made up of magnet ring grabbing device and XY motion platform two parts, and grabbing device completes picking and placeing for magnet ring, and XY motion platforms realize magnet ring putting on supporting plate.
2. a kind of manipulator of magnetic ring conveying based on PLC according to claim 1, is characterized in that：The grabbing device can be in the way of being drawn using magnetic material, it is to avoid the radial force of magnet ring, here using the permanent magnet driven by cylinder.
3. a kind of manipulator of magnetic ring conveying based on PLC according to claim 1, is characterized in that：The course of action of the manipulator can be specifically described as：Platform x coordinate positioning → platform Y-coordinate positioning → paw stretches out → completes crawl → paw return → platform Y-direction piling positioning → platform x and positions → discharge workpiece → complete the work period to piling.
4. a kind of manipulator of magnetic ring conveying based on PLC according to claim 1, is characterized in that：The manipulator is programmed using FPWINGRV2.7 softwares, the several functions such as the powerful achievable test of the software function, online programming, operational diagnostics, and with friendly user interface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510608399.6A CN106542330A (en) | 2015-09-22 | 2015-09-22 | A kind of manipulator of magnetic ring conveying based on PLC |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510608399.6A CN106542330A (en) | 2015-09-22 | 2015-09-22 | A kind of manipulator of magnetic ring conveying based on PLC |
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| CN106542330A true CN106542330A (en) | 2017-03-29 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510608399.6A Pending CN106542330A (en) | 2015-09-22 | 2015-09-22 | A kind of manipulator of magnetic ring conveying based on PLC |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107486861A (en) * | 2017-09-13 | 2017-12-19 | 湖南工程学院 | A kind of automatic Aligning control control system of manipulator |
| CN108681445A (en) * | 2018-04-16 | 2018-10-19 | 华中科技大学 | A kind of PLC program design method based on Timed Automata |
-
2015
- 2015-09-22 CN CN201510608399.6A patent/CN106542330A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107486861A (en) * | 2017-09-13 | 2017-12-19 | 湖南工程学院 | A kind of automatic Aligning control control system of manipulator |
| CN108681445A (en) * | 2018-04-16 | 2018-10-19 | 华中科技大学 | A kind of PLC program design method based on Timed Automata |
| CN108681445B (en) * | 2018-04-16 | 2020-07-24 | 华中科技大学 | P L C program design method based on time automaton |
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Application publication date: 20170329 |