CN108081257A - A kind of Pneumatic manipulator control system - Google Patents
A kind of Pneumatic manipulator control system Download PDFInfo
- Publication number
- CN108081257A CN108081257A CN201611023445.7A CN201611023445A CN108081257A CN 108081257 A CN108081257 A CN 108081257A CN 201611023445 A CN201611023445 A CN 201611023445A CN 108081257 A CN108081257 A CN 108081257A
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- CN
- China
- Prior art keywords
- cylinder
- control system
- pneumatic manipulator
- manipulator control
- solenoid valve
- 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.)
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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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
-
- 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
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Artificial Intelligence (AREA)
- Evolutionary Computation (AREA)
- Fuzzy Systems (AREA)
- Mathematical Physics (AREA)
- Software Systems (AREA)
- Manipulator (AREA)
Abstract
A kind of Pneumatic manipulator control system is applied to PLC the control system of Pneumatic manipulator, and the workload of design, installation, debugging and the repair of system reduces, easy to maintain.The control system has that reliability is high, flexible and convenient to use, is easily programmed change movement locus, it is cost-effective the advantages that.Suitable for complicated working environment, production efficiency can be greatly improved, is suitable for the complicated course of work, produce reality is suitble to use.
Description
Technical field
The present invention relates to a kind of Pneumatic manipulator control system, suitable for machinery field.
Background technology
Manipulator is the industrial robot occurred earliest, and the mechanization of production and automatic is realized in the work that it can substitute people
Change, can work under harmful environment, so as to protect personal safety, therefore be widely used in machinery, metallurgy, electronics, chemical industry
With the departments such as atomic energy.Manipulator is divided into fluid pressure type, pneumatic type, electrodynamic type, mechanical etc., wherein pneumatic machinery by type of drive
Hand by the use of air as working media, have many advantages, such as source of the gas facilitate, be swift in motion, is simple in structure, low cost, easy to maintenance, quilt
It is widely used in field of light industrial machinery, plays increasingly important role in process of production.The execution machine of Pneumatic manipulator
Structure is made of cylinder, and driving mechanism uses solenoid valve control, and the minicores such as PLC, microcontroller or DSP may be employed in control system
Piece realizes required function by programming.
Programmable controller (PLC) has the function of that easy to use, programming is simple, strong, cost-effective, reliability is high, anti-dry
The advantages that ability is strong is disturbed, PLC is applied to the control system of Pneumatic manipulator, design, installation, debugging and the repair of system
Workload reduces, easy to maintain.
The content of the invention
The present invention proposes a kind of Pneumatic manipulator control system, PLC is applied to the control system of Pneumatic manipulator, is
The workload of design, installation, debugging and the repair of system reduces, easy to maintain.
The technical solution adopted in the present invention is：
The control system is made of four cylinders, is respectively moved to left, is moved to right oscillating cylinder, arm stretches out, retraction cylinder, arm
Up and down cylinder, paw clamp, unclamp cylinder.
The oscillating cylinder, telescopic cylinder, lifting cylinder are double-acting cylinder, by two solenoid valve control gas of twin coil
The stretching retract action of cylinder, each cylinder control the stroke of cylinder, the throttling of cylinder band by two magnetic switch detectable limit positions
Valve, convenient for speed governing.
The clamping, release cylinder are single-acting cylinder, by two solenoid valve controls of unicoil, are examined by a magnetic switch
Its state is surveyed, during in clamping position, magnetic switch state is ON, and when release is OFF.
The control system selects the S7-200 series of Siemens Company, and the PLC of CPU224 types, input points are 14,
It is 10 to export points, totally 24 digital quantity I/O points, it is stable and reliable in work, cost-effective, with the faster speed of service and by force
Big is internally integrated specific function, suitable for complicated middle-size and small-size control system.
The beneficial effects of the invention are as follows：The control system has reliability height, flexible and convenient to use, is easily programmed change fortune
Dynamic rail mark, it is cost-effective the advantages that.Suitable for complicated working environment, production efficiency can be greatly improved, is suitable for complexity
The course of work is suitble to produce reality to use.
Description of the drawings
Fig. 1 is the Pneumatic manipulator schematic diagram of the present invention.
Fig. 2 is the pneumatic system schematic diagram of the present invention.
Fig. 3 is the manipulator behavior flow chart of the present invention.
In figure：1. clamping cylinder；2. lifting cylinder；3. telescopic cylinder；4. oscillating cylinder；A 5. station；6. two stations.
Specific embodiment
The invention will be further described with reference to the accompanying drawings and examples.
As shown in Figure 1, Figure 2, control system is made of four cylinders, is respectively moved to left, is moved to right oscillating cylinder, arm stretches out, contracting
Air return cylinder, arm up and down cylinder, paw clamp, unclamp cylinder.Oscillating cylinder, telescopic cylinder, lifting cylinder are double cropping
With cylinder, by the stretching retract action of two solenoid valve control cylinders of twin coil, each cylinder detects pole by two magnetic switch
Extreme position controls the stroke of cylinder, cylinder band throttle valve, convenient for speed governing.Clamping, release cylinder are single-acting cylinder, by single line
Two solenoid valve controls are enclosed, its state is detected by a magnetic switch, during in clamping position, magnetic switch state is ON, is unclamped
When be OFF.
Manipulator will be completed to move workpiece to two stations from a station, and since in situ, manipulator is given tacit consent in situ for action
For：Oscillating cylinder is in limit on the left position, and telescopic cylinder is in retraction position, and lifting cylinder is in limes superiors position, and clamping cylinder is in pine
Open position.
The motion flow of manipulator is：Original position → stretching → decline → clamping → rise → moving to right → decline → loosen → on
It rise → retracts → moves to left, practical work process is as follows：(1) manipulator is first checked after system electrification whether in original position, if it is not,
Then manipulator is waited to reset.Reset button is pressed, returns to original position by force, indicator light in situ is bright at this time；(2) start button is pressed,
Manipulator starts to carry workpiece, stretches out solenoid valves first, and telescopic cylinder stretches out；(3) the stretching position magnetism of telescopic cylinder is opened
After closing the detection cylinder arrival stretching limit, solenoid valve power-off is stretched out, extending action stops, and simultaneously declines solenoid valves, lifting
Cylinder declines；(4) lower limit is reached, declines solenoid valve power-off, declines and stop, clamping solenoid valves, paw clamps；(5) arrive
Up to the limit is clamped, rise solenoid valves, lifting cylinder rises；(6) upper limit is reached, rises solenoid valve power-off, rises and stop,
Solenoid valves are moved to right, oscillating cylinder moves to right；(7) oscillating cylinder reaches right limit, moves to right solenoid valve power-off, moves to right stopping, declining electricity
Magnet valve is powered, and telescopic cylinder declines；(8) lower limit is reached, declines solenoid valve power-off, declines and stop, the power-off of paw solenoid valve, hand
Pawl loosens；(9) after paw loosens, solenoid valves are risen, lifting cylinder rises；(10) upper limit is reached, rises solenoid valve and breaks
Electricity rises and stops, and retraction solenoid valves, telescopic cylinder is retracted；(11) the retraction limit is reached, moves to left solenoid valves, is swung
Cylinder moves to left, and reaches left limit, indicator light in situ is bright, automatically begins to next cycling.If pressing stop button, manipulator completes one
After a sampling action, stop in the original location.This control system is suitable for monocycle or reciprocation cycle operation.
Such as Fig. 3, control system selects the S7-200 series of Siemens Company, the PLC of CPU224 types, and input points are
14, output points is 10, totally 24 digital quantity UO points, it is stable and reliable in work, cost-effective, have the faster speed of service and
Powerful is internally integrated specific function, suitable for complicated middle-size and small-size control system.
Above-mentioned motion flow is realized with S7-200PLC programming languages, and a variety of methods, method one may be employed：It is controlled with order
System instruction realizes, sequence control instruction includes the instruction of LSCRSx.y, SCRTSx.y and SCRT tri- and forms a SCR segments, every section
For describing a step state.The method step is clear, can directly be compareed with flow chart, but sentence is more, and it is slow to perform speed.Side
Method two：It is realized with accumulator shift instruction SHRB, manipulator is each acted to be marked with intermediate relay Mx.y, and everything turns
The condition of changing is connected in parallel on the enable signal end EN ends of SHRB, and displacement every time performs next action.Method three：Referred to left/right displacement
SHL-W or SHR-W is made to realize.Method two is similar with the program that method three is worked out, and sentence ratio method one is few very much, more at present to adopt
Manipulator behavior program is worked out with method two or method three.
Claims (4)
1. a kind of Pneumatic manipulator control system, it is characterized in that：The control system is made of four cylinders, respectively move to left,
Oscillating cylinder is moved to right, arm stretches out, retraction cylinder, arm up and down cylinder, and paw clamps, unclamps cylinder.
2. a kind of Pneumatic manipulator control system according to claim 1, it is characterized in that：The oscillating cylinder, flexible gas
Cylinder, lifting cylinder are double-acting cylinder, by the stretching retract action of two solenoid valve control cylinders of twin coil, each cylinder by
Two magnetic switch detectable limit positions control the stroke of cylinder, cylinder band throttle valve, convenient for speed governing.
3. a kind of Pneumatic manipulator control system according to claim 1, it is characterized in that：The clamping, release cylinder are
By two solenoid valve controls of unicoil, its state is detected by a magnetic switch for single-acting cylinder, magnetic during in clamping position
On off state is ON, and when release is OFF.
4. a kind of Pneumatic manipulator control system according to claim 1, it is characterized in that：The control system selects west gate
The S7-200 series of subsidiary, the PLC of CPU224 types, input points are 14, and output points are 10, totally 24 digital quantity I/O
Point, it is stable and reliable in work, cost-effective, have the faster speed of service and it is powerful be internally integrated specific function, be suitable for
Complicated middle-size and small-size control system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611023445.7A CN108081257A (en) | 2016-11-21 | 2016-11-21 | A kind of Pneumatic manipulator control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611023445.7A CN108081257A (en) | 2016-11-21 | 2016-11-21 | A kind of Pneumatic manipulator control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108081257A true CN108081257A (en) | 2018-05-29 |
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ID=62168450
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611023445.7A Pending CN108081257A (en) | 2016-11-21 | 2016-11-21 | A kind of Pneumatic manipulator control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108081257A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112123347A (en) * | 2020-09-11 | 2020-12-25 | 扬州哈工科创机器人研究院有限公司 | Motion control method and system for simulation robot |
-
2016
- 2016-11-21 CN CN201611023445.7A patent/CN108081257A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112123347A (en) * | 2020-09-11 | 2020-12-25 | 扬州哈工科创机器人研究院有限公司 | Motion control method and system for simulation robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180529 |
|
| WD01 | Invention patent application deemed withdrawn after publication |