基于S7-1200 PLC的机械手分拣料控制系统设计

Design of Material Sorting Robot Control System Based on S7-1200 PLC

系统应用PLC控制2个自由度的机械手,抓取2种同颜色的物料,并分别放入指定的仓位。该系统主要应用西门子工艺轴控制指令模块,并采用脉冲串方式控制伺服电机和步进电机,从而控制机械手的运动。系统采用2个光纤传感器,通过程序算法区分不用颜色的物料,从而实现物料的分拣。该系统还采用触摸屏实现系统的人机交互,并设有手、自动两种运行模式,方便操控系统。在编程方面,系统采用了SCL语言进行模块化编程,使程序更具可读性和可移植性。

Sort two different colors by two-DOF robot,which controled by PLC.The system apply the technology-axis control module to control the servo and step motor,and use two optical fiber sensors to differentiate the material,which is needed corresponding control algorithm.In addition,touch screen interface is designed to implement human-computer interaction.There are two operation modes in the system:manual and automatic,that facilitate the operation of the system.In terms of programming,the system uses SCL language for modular programming,making the program more readable and portable.