CN106625688A

CN106625688A - Pneumatic mechanical arm control system based on PLC

Info

Publication number: CN106625688A
Application number: CN201510735482.XA
Authority: CN
Inventors: 郭洪
Original assignee: Individual
Current assignee: Individual
Priority date: 2015-11-03
Filing date: 2015-11-03
Publication date: 2017-05-10

Abstract

A double-electronic-control three-position five-way valve is selected for control for a pneumatic mechanical arm control system based on a PLC, and the rotating action, the telescopic action, the upward action, the downward action, the grabbing action and the releasing action of a mechanical arm are achieved through four electromagnetic valves and seven control points in total. A medium comes from air, the environment pollution is small, projects are easy to implement, the mechanical arm is well used in industrial automatic production, repeated operation can be reduced for people, operation not capable of being completed by the people can also be completed, and therefore the industrial production efficiency is greatly improved.

Description

A kind of Pneumatic manipulator control system based on PLC

Technical field

The present invention relates to a kind of Pneumatic manipulator control system based on PLC, it is adaptable to mechanical manufacturing field.

Background technology

Mechanical hand is widely used in the departments such as machine-building, metallurgy, electronics and light industry, its actuator is typically by hydraulic pressure, pneumatically or electrically machine to be completing, because pressure technology is with compressed air as medium, simple structure, it is lightweight, be swift in motion, steadily, reliability, energy-conservation, long working life, particularly environment is not polluted, it is easily controllable and safeguard, therefore the drive system of mechanical hand is frequently with pneumatics.

The content of the invention

The present invention proposes a kind of Pneumatic manipulator control system based on PLC, medium comes from air, environmental pollution is little, engineering is easily realized, the mechanical hand is set to have obtained good utilization in industrial automation production, it can reduce the repetitive operation of people, and it can also complete the operation that people cannot complete, so as to greatly improve industrial production efficiency.

The technical solution adopted in the present invention is：

The terminal of the mechanical hand is a Pneumatic clamping jaw, it is possible to achieve the action grabbed and put, and by a double-acting cylinder and a double electric control solenoid valves control is completed；Pneumatic clamping jaw is arranged on the double-acting cylinder of vertical direction, can realize raising and lowering action, and the control in direction is completed by the automatically controlled electromagnetic valve of list；The cylinder of vertical direction is in turn mounted on the telescopic cylinder of a horizontal direction, can realize extending and retracting action, and horizontal double-acting cylinder is completed by a double automatically controlled electromagnetic valves；Horizontal air cylinder is arranged on a double acting rotary cylinder again, can realize left-handed and dextrorotation action, it is intended that it can be parked in the optional position of range of activity, therefore have selected a double automatically controlled three position five-way valves controlling.Therefore the action of mechanical hand by 4 electromagnetic valves totally 7 control point come realize its rotation, it is flexible, up and down and pick-and-place action.In addition, the perception part of Pneumatic manipulator employs such some signaling switches：Derivative limit on the left or on the right point respectively with 1 inductance type transducer, it is flexible before and after limiting point respectively employ the magnetoelectricity switch of 1 standard type, high-low limit point is also respectively switched using magnetoelectricity.So just there are 6 signals collecting input points on this arm-and-hand system.Last mechanical hand mixes again 2 buttons, is used, respectively, to initiate and stops.

Main defeated people's point of the Pneumatic manipulator has 8, and mechanical hand function is to move the workpiece on one side to another side, such as moves the workpiece of a production line to another production line, or moves the workpiece of a work station to another work station, and job order is：(upper electricity) → reset → (startups) → stretch out → decline → grab workpiece → rising → retraction → dextrorotation → stretch out → decline → put workpiece → rising → retraction → left-handed → circulate.

The manipulator behavior is：If reset state is the left side, telescopic cylinder is retracted, gas pawl loosens.Therefore reset after upper electricity be exactly need it is left-handed to limit on the left, be retracted to the rear limit, loosen gas pawl；After pressing start button, telescopic cylinder stretches out, until front limiting point；Next action is that mechanical hand drops to limit inferior point；Then workpiece is grabbed, herein due to without sensor, certain retention time can be arranged, such as l s；Ensuing action is that mechanical hand rises to limit superior；Then it is retracted to the rear limit；Then mechanical hand dextrorotation is to limit on the right-right-hand limit；Mechanical hand extend out to again the front limit；Then mechanical hand drops to limit inferior；Next step is to put down workpiece, completes the carrying work of workpiece；Next mechanical hand should return to home position, i.e., first rise to limit superior, then be retracted to the rear limit, then left-handed to limit on the left, i.e. origin.So far, Pneumatic manipulator completes a working cycle by 13 actions, can return to carry out next circulation.Here, it was noted that mechanical hand will rotate again after retraction, the heaviness of interference or machinery is at this moment caused in order to avoid cantilever beam is long.

The invention has the beneficial effects as follows：Medium comes from air, and environmental pollution is little, and engineering is easily realized, the mechanical hand is set to have obtained good utilization in industrial automation production, it can reduce the repetitive operation of people, and it can also complete the operation that people cannot complete, so as to greatly improve industrial production efficiency.

Description of the drawings

With reference to the accompanying drawings and examples the present invention is further described.

Fig. 1 is the pneumatic system schematic diagram of the present invention.

Fig. 2 is the Pneumatic manipulator PLC I/O allocation tables of the present invention.

Fig. 3 is the PLC control program functional diagram of the present invention.

Specific embodiment

With reference to the accompanying drawings and examples the invention will be further described.

Such as Fig. 1, the terminal of mechanical hand is a Pneumatic clamping jaw, it is possible to achieve the action grabbed and put, and by a double-acting cylinder and a double electric control solenoid valves control is completed；Pneumatic clamping jaw is arranged on the double-acting cylinder of vertical direction, can realize raising and lowering action, and the control in direction is completed by the automatically controlled electromagnetic valve of list；The cylinder of vertical direction is in turn mounted on the telescopic cylinder of a horizontal direction, can realize extending and retracting action, and horizontal double-acting cylinder is completed by a double automatically controlled electromagnetic valves；Horizontal air cylinder is arranged on a double acting rotary cylinder again, can realize left-handed and dextrorotation action, it is intended that it can be parked in the optional position of range of activity, therefore have selected a double automatically controlled three position five-way valves controlling.Therefore the action of mechanical hand by 4 electromagnetic valves totally 7 control point come realize its rotation, it is flexible, up and down and pick-and-place action.In addition, the perception part of Pneumatic manipulator employs such some signaling switches：Derivative limit on the left or on the right point respectively with 1 inductance type transducer, it is flexible before and after limiting point respectively employ the magnetoelectricity switch of 1 standard type, high-low limit point is also respectively switched using magnetoelectricity.So just there are 6 signals collecting input points on this arm-and-hand system.Last mechanical hand mixes again 2 buttons, is used, respectively, to initiate and stops.

As Fig. 2, main defeated people's point of Pneumatic manipulator have 8, mechanical hand function is to move the workpiece on one side to another side, such as moves the workpiece of a production line to another production line, or moves the workpiece of a work station to another work station, and job order is：(upper electricity) → reset → (startups) → stretch out → decline → grab workpiece → rising → retraction → dextrorotation → stretch out → decline → put workpiece → rising → retraction → left-handed → circulate.

Such as Fig. 3, manipulator behavior is：If reset state is the left side, telescopic cylinder is retracted, gas pawl loosens.Therefore reset after upper electricity be exactly need it is left-handed to limit on the left, be retracted to the rear limit, loosen gas pawl；After pressing start button, telescopic cylinder stretches out, until front limiting point；Next action is that mechanical hand drops to limit inferior point；Then workpiece is grabbed, herein due to without sensor, certain retention time can be arranged, such as l s；Ensuing action is that mechanical hand rises to limit superior；Then it is retracted to the rear limit；Then mechanical hand dextrorotation is to limit on the right-right-hand limit；Mechanical hand extend out to again the front limit；Then mechanical hand drops to limit inferior；Next step is to put down workpiece, completes the carrying work of workpiece；Next mechanical hand should return to home position, i.e., first rise to limit superior, then be retracted to the rear limit, then left-handed to limit on the left, i.e. origin.So far, Pneumatic manipulator completes a working cycle by 13 actions, can return to carry out next circulation.Here, it was noted that mechanical hand will rotate again after retraction, the heaviness of interference or machinery is at this moment caused in order to avoid cantilever beam is long.

Claims

1. a kind of Pneumatic manipulator control system based on PLC, is characterized in that：The terminal of the mechanical hand is a Pneumatic clamping jaw, it is possible to achieve the action grabbed and put, and by a double-acting cylinder and a double electric control solenoid valves control is completed；Pneumatic clamping jaw is arranged on the double-acting cylinder of vertical direction, can realize raising and lowering action, and the control in direction is completed by the automatically controlled electromagnetic valve of list；The cylinder of vertical direction is in turn mounted on the telescopic cylinder of a horizontal direction, can realize extending and retracting action, and horizontal double-acting cylinder is completed by a double automatically controlled electromagnetic valves；Horizontal air cylinder is arranged on a double acting rotary cylinder again, can realize left-handed and dextrorotation action.

2. a kind of Pneumatic manipulator control system based on PLC according to claim 1, is characterized in that：The perception part of the Pneumatic manipulator employs such some signaling switches：Derivative limit on the left or on the right point respectively with 1 inductance type transducer, it is flexible before and after limiting point respectively employ the magnetoelectricity switch of 1 standard type, high-low limit point is also respectively switched using magnetoelectricity.

3. a kind of Pneumatic manipulator control system based on PLC according to claim 1, is characterized in that：The manipulator behavior is, if reset state be the left side, telescopic cylinder is retracted, gas pawl loosens, reset after upper electricity be exactly need it is left-handed to limit on the left, be retracted to the rear limit, loosen gas pawl；After pressing start button, telescopic cylinder stretches out, until front limiting point；Next action is that mechanical hand drops to limit inferior point；Then workpiece is grabbed, herein due to without sensor, certain retention time can be arranged.