基于PLC的机械吊臂定位控制设计

Positioning Control Design of Manipulator based on PLC

针对大型零部件清洗系统中的自动机械吊臂进行控制研究,基于PLC控制平台由控制单元、执行机构以及显示平台组成.介绍了控制系统的工作原理,建立了机械吊臂的数学模型,对定位过程中的运动路径进行了计算分析.PLC主要控制机械吊臂的运动,以工控机屏幕显示大型零件清洗状态信息和操作控制,文中给出了系统硬件电路和软件设计.该系统的机械吊臂定位精度优于1 mm,能够实现机械吊臂悬挂车钩高速准确无误自动装入清洗室插销中,实现自动化操作.

According to the control of automatic lifting arm in the cleaning system of large parts, the PLC control platform is composed of a control unit, an actuator and a display platform. The working principle of the control system is introduced, the mathematical model of the manipulator is established, and the motion path of the control system is calculated and analyzed. PLC mainly control the movement of the manipulator, the con- trol computer screen display large parts cleaning status information and operation control, the paper gives the system hardware circuit and software design. The system of mechanical lifting arm positioning accuracy is within 1mm, and it can realize mechanical boom suspension coupler high-speed accurate load automatically cleaning room bolt and realize automatic operation.