CN105690381A

CN105690381A - Mixed type pneumatic mechanical arm based on PLC control

Info

Publication number: CN105690381A
Application number: CN201410702048.7A
Authority: CN
Inventors: 姚秋丽
Original assignee: Individual
Current assignee: Individual
Priority date: 2014-11-28
Filing date: 2014-11-28
Publication date: 2016-06-22

Abstract

The invention discloses a mixed type pneumatic mechanical arm based on PLC control. The overall structure of the mechanical arm is mainly composed of seven parts, namely a base (1), a rotary table (2), a pitching air cylinder (3), a photoelectric detection device (4), a stand column (5), an extending-and-contracting air cylinder (6) and a gripper (7). The pitching action and the extending-and-contracting action of the mechanical arm are driven in a pneumatic mode; three degrees of freedom are adopted; and the mechanical arm is small in occupied area, large in activity range, simple in structure, convenient to assemble and high in positioning precision, and low cost and high universality are taken into consideration simultaneously. Meanwhile, PLC control is adopted for the mechanical arm, an electrical control system is simplified, the mechanical arm can work more stably, reliably and flexibly, and work efficiency is obviously improved.

Description

A kind of based on the PLC mixed type Pneumatic manipulator controlled

Technical field

The present invention relates to a kind of mechanical hand, especially relate to a kind of based on the PLC mixed type Pneumatic manipulator controlled。

Background technology

Along with the extensive use of mechanical hand technology, have that independent control, program be variable, flexible movements, positioning precision Unimate high, suitable in small batch automated production are developed rapidly。The novel pneumatic conveying robot developed herein, have employed combination drive technology, except the common machinery of Pneumatic manipulator and Pneumatic component, mixed type Pneumatic manipulator adds the electric components such as motor, direct current generator, photoelectric sensor, cover PLC control technology, pneumatics, location detecting technology etc., it is the exemplary apparatus of electrical-mechanical integration, has a wide range of applications。

Summary of the invention

The present invention provides a kind of and adopts 3DOF based on the PLC mixed type Pneumatic manipulator controlled, and the little range of activity of floor space is big, and structure is more simply easy to combination, and positioning precision is higher, has taken into account low cost and high universalizable simultaneously。Have employed PLC control, simplify electric control system, make that robot work is more stable, reliable, flexible, work efficiency significantly improves。

The technical solution adopted in the present invention is。

The overall structure of the present invention is mainly made up of seven parts such as base, rotary table, pitching cylinder, photoelectric detection system column, telescopic cylinder and paws。

Described Pneumatic manipulator is the polar co-ordinate type mechanical hand with 3 degree of freedom, the arm motion of mechanical hand is made up of a rectilinear motion (flexible along orientation arm) and two rotations (rotating along counter clockwise direction and bowing around facing upward of trunnion axis around central shaft), can completing the motion of pitching, flexible, 3 degree of freedom of revolution, mechanical hand is made up of mechanical system, position detecting system, pneumatic and control system 3 part。

The pitching of described mechanical hand and expanding-contracting action adopt pneumatic mode to drive, action of bowing of facing upward around trunnion axis is realized by linkage by pitching cylinder, by the transform linear motion of cylinder be arm face upward motion of bowing, pitching and telescopic cylinder selection standard cylinder, owing to grabbing workpiece and stacking workpiece have the requirement of location positioning, therefore infrared light electric-type sensor is installed on cylinder, cylinder rod is fixed with transmission-type grating, the mobile drive grating of cylinder rod moves, produce photosignal pulse, photosignal feeds back to PLC input by signaling conversion circuit built-in in base after being processed, this feedback signal is processed by PLC control program, judge whether the motion of arm puts in place, then control signal is sent to solenoid directional control valve to control motion and the stopping of cylinder, realize the random positioned needs of mechanical hand。

Described pneumatic system is controlled valve, pitching and telescopic cylinder etc. formed by source of the gas, pneumatic triple piece, pneumatic system, whole pneumatic system mainly completes to bend down, steeves, stretches out, 4 actions of retracting, source of the gas is obtained by air compressor machine, through pneumatic triple piece, the air being cleaned, drying, realize the conversion of motion through 3 position-5 way electromagnetic valve, electromagnetic valve YV1, YV2, YV3, YV4 are controlled by PLC。The signals in situ of pitching and telescopic cylinder is provided by labeled in situ X2, the X3 on grating scale, and limit signal is provided by by gag lever post X13, the X14 on grating scale, and the pulse signal that position signalling is produced by grating scale provides。

The transhipment of described pneumatic machinery winding by hand central shaft is dynamic adopts step motor drive to realize, select the two phase mixing motor angularly constant moment of force segmentation type stepper motor driver supporting with it as the driving of mechanical hand gyration and positioner, motor is built in the middle of mechanical hand base, due to the needs that location controls, when rotary table goes to 0 ° and 180 ° of positions, base is provided with origin switch and positive stop。In control circuit, PLC the control signals such as pulse signal CP, direction signal DIR are sent to stepper motor driver to control the velocity of rotation of motor, direction and position, thus realizing the Position servo control to motor。

The paw motion design of described Pneumatic manipulator considers that mechanical paw selected by the needs of structure and outward appearance, permanent magnetic DC speed-reducing motor is adopted to drive paw, the rotary motion of motor is converted into rectilinear motion by leading screw and nut mechanism, the open and close movement of paw is converted to again through linkage, the rotating control that relay K A1, KA2 realize direct current generator is controlled a pair, it is achieved the folding pick-and-place action of paw by PLC。

The invention has the beneficial effects as follows: the little range of activity of mechanical hand floor space is big, structure is more simply easy to combination, and positioning precision is higher, has taken into account low cost and high universalizable simultaneously。Have employed PLC control, simplify electric control system, make that robot work is more stable, reliable, flexible, work efficiency significantly improves。

Accompanying drawing explanation

Below in conjunction with drawings and Examples, the present invention is further described。

Fig. 1 is the Pneumatic manipulator structural representation of the present invention。

Fig. 2 is the Pneumatic manipulator pneumatic schematic diagram of the present invention。

Detailed description of the invention

Below in conjunction with drawings and Examples, the invention will be further described。

As it is shown in figure 1, overall structure is mainly made up of seven parts such as base 1, rotary table 2, pitching cylinder 3, photoelectric detection system 4, column 5, telescopic cylinder 6 and paws 7。

As shown in Figure 1, Pneumatic manipulator is the polar co-ordinate type mechanical hand with 3 degree of freedom, the arm motion of mechanical hand is made up of a rectilinear motion (flexible along orientation arm) and two rotations (rotating along counter clockwise direction and bowing around facing upward of trunnion axis around central shaft), can completing the motion of pitching, flexible, 3 degree of freedom of revolution, mechanical hand is made up of mechanical system, position detecting system, pneumatic and control system 3 part。

As shown in Figure 1, the pitching of mechanical hand and expanding-contracting action adopt pneumatic mode to drive, action of bowing of facing upward around trunnion axis is realized by linkage by pitching cylinder, by the transform linear motion of cylinder be arm face upward motion of bowing, pitching and telescopic cylinder selection standard cylinder, owing to grabbing workpiece and stacking workpiece have the requirement of location positioning, therefore infrared light electric-type sensor is installed on cylinder, cylinder rod is fixed with transmission-type grating, the mobile drive grating of cylinder rod moves, produce photosignal pulse, photosignal feeds back to PLC input by signaling conversion circuit built-in in base after being processed, this feedback signal is processed by PLC control program, judge whether the motion of arm puts in place, then control signal is sent to solenoid directional control valve to control motion and the stopping of cylinder, realize the random positioned needs of mechanical hand。

As shown in Figure 2, pneumatic system is controlled valve, pitching and telescopic cylinder etc. formed by source of the gas, pneumatic triple piece, pneumatic system, whole pneumatic system mainly completes to bend down, steeves, stretches out, 4 actions of retracting, source of the gas is obtained by air compressor machine, through pneumatic triple piece, the air being cleaned, drying, realizes the conversion of motion through 3 position-5 way electromagnetic valve, and electromagnetic valve YV1, YV2, YV3, YV4 are controlled by PLC。The signals in situ of pitching and telescopic cylinder is provided by labeled in situ X2, the X3 on grating scale, and limit signal is provided by by gag lever post X13, the X14 on grating scale, and the pulse signal that position signalling is produced by grating scale provides。

As shown in Figure 2, the transhipment of pneumatic machinery winding by hand central shaft is dynamic adopts step motor drive to realize, select the two phase mixing motor angularly constant moment of force segmentation type stepper motor driver supporting with it as the driving of mechanical hand gyration and positioner, motor is built in the middle of mechanical hand base, due to the needs that location controls, when rotary table goes to 0 ° and 180 ° of positions, base is provided with origin switch and positive stop。In control circuit, PLC the control signals such as pulse signal CP, direction signal DIR are sent to stepper motor driver to control the velocity of rotation of motor, direction and position, thus realizing the Position servo control to motor。

As shown in Figure 2, the paw motion design of Pneumatic manipulator considers that mechanical paw selected by the needs of structure and outward appearance, permanent magnetic DC speed-reducing motor is adopted to drive paw, the rotary motion of motor is converted into rectilinear motion by leading screw and nut mechanism, the open and close movement of paw is converted to again through linkage, the rotating control that relay K A1, KA2 realize direct current generator is controlled a pair, it is achieved the folding pick-and-place action of paw by PLC。

Claims

1., based on the PLC mixed type Pneumatic manipulator controlled, it is characterized in that: mechanical hand overall structure is mainly made up of seven parts such as base 1, rotary table 2, pitching cylinder 3, photoelectric detection system 4, column 5, telescopic cylinder 6 and paws 7。

2. according to claim 1 a kind of based on the PLC mixed type Pneumatic manipulator controlled, it is characterized in that: described Pneumatic manipulator is the polar co-ordinate type mechanical hand with 3 degree of freedom, the arm motion of mechanical hand is made up of a rectilinear motion (flexible along orientation arm) and two rotations (rotating along counter clockwise direction and bowing around facing upward of trunnion axis around central shaft), can completing the motion of pitching, flexible, 3 degree of freedom of revolution, mechanical hand is made up of mechanical system, position detecting system, pneumatic and control system 3 part。

3. according to claim 1 a kind of based on the PLC mixed type Pneumatic manipulator controlled, it is characterized in that: the pitching of described mechanical hand and expanding-contracting action adopt pneumatic mode to drive, action of bowing of facing upward around trunnion axis is realized by linkage by pitching cylinder, by the motion of bowing of facing upward that the transform linear motion of cylinder is arm, pitching and telescopic cylinder selection standard cylinder。

4. according to claim 1 a kind of based on the PLC mixed type Pneumatic manipulator controlled, it is characterized in that: the pitching of described mechanical hand and expanding-contracting action adopt pneumatic mode to drive, action of bowing of facing upward around trunnion axis is realized by linkage by pitching cylinder, by the transform linear motion of cylinder be arm face upward motion of bowing, pitching and telescopic cylinder selection standard cylinder, owing to grabbing workpiece and stacking workpiece have the requirement of location positioning, therefore infrared light electric-type sensor is installed on cylinder, cylinder rod is fixed with transmission-type grating, the mobile drive grating of cylinder rod moves, produce photosignal pulse, photosignal feeds back to PLC input by signaling conversion circuit built-in in base after being processed, this feedback signal is processed by PLC control program, judge whether the motion of arm puts in place, then control signal is sent to solenoid directional control valve to control motion and the stopping of cylinder, realize the random positioned needs of mechanical hand。

5. according to claim 1 a kind of based on the PLC mixed type Pneumatic manipulator controlled, it is characterized in that: the transhipment of described pneumatic machinery winding by hand central shaft is dynamic adopts step motor drive to realize, select the two phase mixing motor angularly constant moment of force segmentation type stepper motor driver supporting with it as the driving of mechanical hand gyration and positioner, motor is built in the middle of mechanical hand base, due to the needs that location controls, when rotary table goes to 0 ° and 180 ° of positions, base is provided with origin switch and positive stop, in control circuit, by PLC pulse signal CP, the control signals such as direction signal DIR are sent to stepper motor driver to control the velocity of rotation of motor, direction and position, thus realizing the Position servo control to motor。

6. according to claim 1 a kind of based on the PLC mixed type Pneumatic manipulator controlled, it is characterized in that: the paw motion design of described Pneumatic manipulator considers that mechanical paw selected by the needs of structure and outward appearance, permanent magnetic DC speed-reducing motor is adopted to drive paw, the rotary motion of motor is converted into rectilinear motion by leading screw and nut mechanism, convert the open and close movement of paw again through linkage to, PLC control the rotating control that relay K A1, KA2 realize direct current generator a pair。