流水线自动抓送料机械手控制系统设计

Design of Control System for Manipulator of Automatic Picking and Feeding in Assembly Line

针对流水线上传统小部件抓送料系统柔性低、保护差、易出现故障等问题,设计了一种基于西门子S7-1200PLC与步科人机界面实时监控融合的自动抓送料机械手系统。系统通过PLC运动控制与伺服电机配合,保证运行位置的精确性;通过各环节传感器到位锁定与伺服驱动器实时反馈的双闭环控制,保证系统运行的安全性;通过行进与返回不同速度的设计,提高工作效率。试验结果表明,系统运行速度和稳定性满足生产线需求,效率提高50%,人工成本降低40%。

In view of the problems of low flexibility,poor protection and easy failure of the traditional small parts'grabbing and feeding system on the assembly line,an automatic grabbing and feeding manipulator system based on the integration of Siemens S7-1200PLC and Kinco human-machine interface is designed.The system ensures the accuracy of the operation position through the cooperation of PLC motion control and servo motor;ensures the safety of the system operation through the double closed-loop control of the in place locking of sensors and the real-time feedback of servo driver in each link;improves the working efficiency through the design of different speeds of travel and return.The test results show that the running speed and stability of the system meet the needs of the production line,the efficiency is increased by 50%,and the labor cost is reduced by 40%.