基于PLC的冲床机械手伺服控制系统

Design of Servo Control System of Loading and Unloading Punch Manipulator Based on PLC

针对冲床采用人工上下料存在效率低及安全隐患等问题,设计了一种基于PLC的冲床机械手自动上下料伺服控制系统。以三菱Q系列PLC为控制核心,设计了系统的总体控制方案;采用真空吸盘实现工件的抓放,完成了吸盘气动系统的设计;确定了系统各硬件的型号;采用SSCNET通信总线代替脉冲实现对伺服驱动单元的控制,设计了伺服驱动器的电气回路和定位模块与极限开关的接线;分配了系统输入输出端口,通过GX Works2软件编写机械手自动运行程序。系统采用闭环控制,精度高,运行快速稳定,能明显提高工作效率,改善工作环境。

The punch with manual loading and unloading has many problems such as low efficiency and hidden trouble of safety. In order to solve these problems a kind of servo control system of loading and unloading manipulator of punch based on PLC was introduced. The system was controlled by Mitsubishi Q series PLC. The overall scheme of control system was designed. The workpiece was grasped by vacuum sucker,and the pneumatic system was designed. The models were selected for each hardware of the servo control system. The control of servo drive units used SSCNET communication bus instead of pulse. The electrical connection scheme of the servo system was determined. The connection between the positioning module and the limit switch was completed. The configuration of the input and output ports of the control system was distributed,and the automatic program of the manipulator by GX Works2 software was designed. The system used closed-loop servo control system. It has accuracy position and fast and stable operation. It can significantly increase work efficiency and improve the working environment.