摘要
为满足企业生产需求和提高生产效率,设计了一种基于气压传动和PLC自动化控制的多自由度码垛机械手控制系统。以PLC作为控制器,电磁阀、直流伺服电机、气压缸为辅助设备的控制方法,重点分析解了机械手组成、工作原理、气动回路以及组成的元部件。对控制机械手底座的旋转电机进行了PID控制,分析了不同PID参数对控制电机影响。最后,成功连接整个控制系统回路,实验验证了不同PID控制下机械手的工作性能。实验数据表明:该气动机械手控制系统设计合理,能够达到实际生产要求。
In order to meet the production demand and improve production efficiency,a multi-DOF palletizing manipulator control system based on pneumatic transmission and PLC automation control is designed.Taking PLC as controller,solenoid valve,DC servo motor and pneumatic cylinder as auxiliary equipment,the paper mainly analyzes the composition,working principle,pneumatic circuit and components of the manipulator.The PID control is carried out on the rotating motor of the manipulator base,and the influence of different PID parameters on the control motor is analyzed.Finally,the whole control system loop is successfully connected,and the working performance of the manipulator under different PID control is verified experimentally.The experimental data show that the design of the pneumatic manipulator control system is reasonable and can meet the actual production requirements.
作者
田小静
TIAN Xiao-jing(Xi'an Aeronautical Polytechnic Institute,School of Automation Engineering,Xi'an710089,China)
出处
《液压气动与密封》
2018年第12期58-62,共5页
Hydraulics Pneumatics & Seals
基金
陕西省教育厅专项科研计划项目(15JK1380)
关键词
气压传动
控制系统
机械手
PLC
pneumatic transmission
control system
manipulator
PLC
