基于PLC的橱柜型立体仓库及其搬运机械手的设计

The design of the automated warehouse and its manipulator based on PLC

设计了一套小型的自动化立体仓库,它采用了PLC控制来精确地识别各工位上是否有工件,以确定取/放工件;它利用用气动方式控制换向阀使机械手完成各种动作,如伸出,收回,沿左右方向旋转,已完成去放工间的动作,即完成收货—存货—取货—发货;它采用电动方式来驱动机械手沿同步带运动,以实现机械手在货架每层各工位之间的各种操作;并能使机械手沿两立柱上下运动,以实现机械手在各层之间的操作。

Automated warehouse is a high-level shelf storage of goods,with lifting,handling,transport machinery and equipment to carry out cargo warehousing operations.An automated warehouse which uses PLC to control the precise identification of all workers on whether there is a workpiece to determine admission/release the workpiece.It use pneumatic control valve to complete a variety of mechanical hand movements,such as extending,recovering,moving along about the direction of rotation etc.To complet the receipt-inventory-pickup shipments action.The machinery hand move along the belt in order to achieve mechanical hand in every shelf between the workers of the various operations and make mechanical hand column from top to bottom along the two campaigns drived by electrical,which will make mechanical hand moving between the layers operation.