多工位冲压生产线自动送料机械手控制系统设计

Control system design on automatic feeding manipulator in the multi-station press line

为了提高大型多工位压力机生产线的自动化程度,提出了一种基于PLC和运动控制器共同控制的三次元送料机械手控制系统设计方案。对送料机械手的整体结构、工作流程、伺服系统组成进行了研究和分析,阐述了控制系统的硬件结构设计,详细介绍了PLC以及运动控制器的软件功能设计,并采用触摸屏设计了友好的人机界面。在轨迹控制方面,采用电子凸轮实现机械手在X、Y、Z方向及8个伺服轴的联动。根据机械手的实际运行状况,通过反复实践整定伺服增益参数,得到了理想的响应特性。实验结果表明,该机械手操作方便、运行稳定,当移送负载为120 kg时,机械手的工作速度可达25次·min^(-1)。

In order to improve the automation level of the multi-station press line, a 3D feeding manipulator control system based on PLC and motion controller was developed. The overall structure, workflow, servo system construction of the feeding manipulator were re- searched and analyzed. Then, the hardware structure, software function of PLC and motion controller for this control system were intro- duced in detail with a friendly human-machine interface designed by the touch screen method. The manipulator with X, Y, Z directions and eight servo axes moved together by ECAM in controlling the manipulator trajectory. According to the actual running situation, the ideal response characteristics were obtained by adjusting the servo gains repeatedly. The experimental result shows that the manipulator is not only easy to operate, but also runs steadily. When the feeding load is 120 kg, the transfer frequency can reach 25 times per minute, and the positio- ning accuracy is ±0.1 mm.