CN106647614A - PLC-based (programmable logic controller-based) spraying robot control system - Google Patents
PLC-based (programmable logic controller-based) spraying robot control system Download PDFInfo
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- CN106647614A CN106647614A CN201710146720.2A CN201710146720A CN106647614A CN 106647614 A CN106647614 A CN 106647614A CN 201710146720 A CN201710146720 A CN 201710146720A CN 106647614 A CN106647614 A CN 106647614A
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- servo
- plc
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- control
- servomotor
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
- G05B19/058—Safety, monitoring
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/10—Plc systems
- G05B2219/16—Plc to applications
- G05B2219/163—Domotique, domestic, home control, automation, smart, intelligent house
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Spray Control Apparatus (AREA)
Abstract
The invention discloses a PLC-based (programmable logic controller-based) spraying robot control system, comprising a PLC connected with a control panel, a touch screen, terminal transfer board I, terminal transfer board II, and terminal transfer board III; the terminal transfer board I is connected with a first servo driver and a second servo driver, the first servo driver is sequentially connected with a first servo motor and a robot manipulator, the second servo driver is sequentially connected with a second servo motor and a robot transverse arm, the terminal transfer board II is sequentially connected with a third servo driver, a third servo motor, and a rotary platform, the terminal transfer board III is connected with a fourth servo driver and a fifth servo driver, the fourth servo driver is sequentially connected with a fourth servo motor and a robot rocker, and the fifth servo driver is sequentially connected with a fifth servo motor and a nozzle. The relatively independent functional modules are controlled through the PLC, so that automatic control level of the system and independent debugging and maintenance of the modules can be increased.
Description
Technical field
The invention belongs to Industrial Robot Technology field, more particularly to a kind of spray robot control system based on PLC
System.
Background technology
Spray painting operation is a kind of harmful poisonous, work of dull repetition, is one of important industry of industrial robot application.
Exploitation paint-spray robot, finally provides a user with lower-cost robot production line, and the robot of exploitation is preferably in user
Spray painting workman is directly replaced to be produced on original artificial painting line.And at present for the design of spray robot, exist
Some are difficult, are mainly manifested in：Restricted by original production environment on product space takes, additionally, due to being towards actual life
Product process and the robot system that designs, the motility, repeatability and stability requirement for robot are just higher.Therefore, need
A kind of strong adaptability is designed under existing production environment and working condition, is easy to the robot control system of flexible operating, with
Solve above-mentioned technical problem.
The content of the invention
It is an object of the invention to provide a kind of spray robot control system based on PLC, by the systematic difference,
Solve existing problem.
To solve above-mentioned technical problem, the present invention is achieved by the following technical solutions：
The present invention is a kind of spray robot control system based on PLC, including PLC, the PLC connect
It is connected to control panel, touch screen, terminal through position one, terminal through position two, terminal through position three, production line on off control mould
Block, alignment system transducing signal module, electromagnetic valve, the terminal through position one are connected with the first servo-driver and the second servo
Driver, first servo-driver are connected with the first servomotor, robot trailing arm, second servo-driver in turn
It is connected with the second servomotor, robot horizontal in turn；The terminal through position two is connected with the 3rd servo-driver, and described
Three servo-drivers are connected with the 3rd servomotor, rotation platform in turn；The terminal through position three is connected with the drive of the 4th servo
Dynamic device and the 5th servo-driver, the 4th servo-driver are connected with the 4th servomotor, robot swinging arm in turn, described
5th servo-driver is connected with the 5th servomotor, shower nozzle in turn；The electromagnetic valve is connected to shower nozzle.
Further, the PLC includes CPU module, position and speed control module and digital quantity output module, institute
CPU module is stated for completing the logical operationss of whole system and the information exchange with host computer touch screen, the position and speed
Control module mainly completes the position of servo-driver and direction controlling, and the digital output module is used to gather external information
And the working condition of system is shown by control panel, the digital output module respectively with control panel, production
Line on off control module, alignment system transducing signal module carry out information exchange.
Further, the screen touch screen that touches enters row information friendship with PLC as the host computer of PLC
Mutually, corresponding control instruction is sent to PLC by touch screen, and the situation of the operation of PLC is shown.
Further, first servo-driver, the second servo-driver and the 3rd servo-driver are using exchange
Servo-driver, the first servomotor, the second servomotor and the 3rd servomotor adopt AC servo motor；Described 4th
Servo-driver and the 5th servo-driver adopt direct current servo driver, the 4th servomotor and the 5th servomotor to adopt
Use DC servo motor.
Further, an output point Jing solenoid valve control of the on off state of the shower nozzle by PLC, the shower nozzle
The concrete sequential of switch has control algolithm and control logic inside PLC to realize.
Further, the alignment system transducing signal module is used to detect the position signalling of product to be painted and feed back to
PLC, then carries out on off control action by PLC control production line on off control module.
The invention has the advantages that：
The present invention is used as System Control Center by PLC, and each module of the system is uniformly controlled, and each mould
Block function opposite independent, is conducive to independent debugging and the repair and maintenance of the automatic control level and each module of raising system；Pass through
From AC servo driver and AC servo motor, be conducive to driven machine people's trailing arm, robot horizontal and rotation platform
These relatively large mechanism loadings；By from direct current servo driver and DC servo motor, being conducive to driven machine people
The relatively small mechanism loading such as swing arm and shower nozzle, is easy to the flexible operating of corresponding mechanism；By arranging touch screen, as PLC
The host computer of controller, the operating of control machinery arm and shows the running status of PLC, it is to avoid arrange excessive defeated then
Enter output module, be conducive to cost-effective and simplified system.
Certainly, the arbitrary product for implementing the present invention is it is not absolutely required to while reaching all the above advantage.
Description of the drawings
In order to be illustrated more clearly that the technical scheme of the embodiment of the present invention, use required for describing to embodiment below
Accompanying drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the present invention, for ability
For the those of ordinary skill of domain, on the premise of not paying creative work, can be attached to obtain others according to these accompanying drawings
Figure.
Fig. 1 is a kind of composition frame chart of spray robot control system based on PLC of the present invention.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than the embodiment of whole.It is based on
Embodiment in the present invention, it is all other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
Refer to shown in Fig. 1, the present invention is a kind of spray robot control system based on PLC, including PLC,
PLC is connected with control panel, touch screen, terminal through position one, terminal through position two, terminal through position three, production line
On off control module, alignment system transducing signal module, electromagnetic valve, terminal through position one are connected with the first servo-driver and
Two servo-drivers, the first servo-driver are connected with the first servomotor, robot trailing arm in turn, the second servo-driver according to
It is secondary to be connected with the second servomotor, robot horizontal；Terminal through position two is connected with the 3rd servo-driver, the 3rd servo-drive
Device is connected with the 3rd servomotor, rotation platform in turn；Terminal through position three is connected with the 4th servo-driver and the 5th servo
Driver, the 4th servo-driver are connected with the 4th servomotor, robot swinging arm in turn, and the 5th servo-driver is sequentially connected
There are the 5th servomotor, shower nozzle；Electromagnetic valve is connected to shower nozzle.
Wherein, the CPU in PLC is configured with inside PLC using the CJ2M-CPU14 controllers of OMRON
Position and speed control module and two digital quantity output modules, CJ1W-NC414 of the position and speed control module from OMRON, number
CJ1W-ID211 of the word amount output module from OMRON, CPU are mainly completed the logical operationss of whole system and are touched with host computer
The information exchange of screen is touched, position and speed control module mainly completes the position of servo-driver and direction controlling, digital output
Module is used to gather external information and the working condition of system is shown by control panel, digital output module difference
Information exchange is carried out with control panel, production line on off control module, alignment system transducing signal module；Touch screen is adopted
The NB-Designer10 touch screens of OMRON, the touch screen enter row information with PLC as the host computer of PLC
Interaction, sends corresponding control instruction to PLC by touch screen, the action of control machinery arm then, and by PLC
The situation of operation show, it is to avoid using excessive input/output module, be conducive to cost-effective, simplified system.
Wherein, terminal through position is the relay unit of link position rate control module and servo-driver；First servo
Driver, the second servo-driver and the 3rd servo-driver are using the A5 AC servo drivers of Panasonic, the first servo electricity
, using the A5 AC servo motors of Panasonic, AC servo motor volume is larger for machine, the second servomotor and the 3rd servomotor,
Relatively large load can be driven, is easy to then drive trailing arm, transverse arm and rotation platform；4th servo-driver and the 5th servo-driver
Direct current servo driver, the 4th servomotor and the 5th servomotor is adopted to adopt DC servo motor, this is due to machine
Device people swing arm and shower nozzle load are less, from volume and the less direct current generator of quality, are easy to the spirit of robot swinging arm and shower nozzle
Operating living.
Wherein, an output point Jing solenoid valve control of the on off state of shower nozzle by PLC, nozzle switch it is concrete
Sequential has the control algolithm inside PLC and control logic to realize.
Wherein, alignment system transducing signal module is used to detect the position signalling of product to be painted and feed back to PLC controls
Device, then carries out on off control action by PLC control production line on off control module.
In the description of this specification, the description of reference term " one embodiment ", " example ", " specific example " etc. means
Specific features, structure, material or the feature described with reference to the embodiment or example is contained at least one enforcement of the present invention
In example or example.In this manual, identical embodiment or example are not necessarily referring to the schematic representation of above-mentioned term.
And, the specific features of description, structure, material or feature can be in one or more any embodiments or example closing
Suitable mode is combined.
Finally it should be noted that present invention disclosed above preferred embodiment is only intended to help illustrates the present invention.It is excellent
Embodiment is selected not have all of details of detailed descriptionthe, it is only described specific embodiment also not limit the invention.Obviously, root
According to the content of this specification, can make many modifications and variations.These embodiments are chosen and specifically described to this specification, be in order to
The principle and practical application of the present invention are explained preferably, so that skilled artisan can be best understood by and utilize
The present invention.The present invention is only limited by claims and its four corner and equivalent.
Claims (6)
1. a kind of spray robot control system based on PLC, it is characterised in that：Including PLC, the PLC
It is connected with control panel, touch screen, terminal through position one, terminal through position two, terminal through position three, production line on off control mould
Block, alignment system transducing signal module, electromagnetic valve, the terminal through position one are connected with the first servo-driver and the second servo
Driver, first servo-driver are connected with the first servomotor, robot trailing arm, second servo-driver in turn
It is connected with the second servomotor, robot horizontal in turn；The terminal through position two is connected with the 3rd servo-driver, and described
Three servo-drivers are connected with the 3rd servomotor, rotation platform in turn；The terminal through position three is connected with the drive of the 4th servo
Dynamic device and the 5th servo-driver, the 4th servo-driver are connected with the 4th servomotor, robot swinging arm in turn, described
5th servo-driver is connected with the 5th servomotor, shower nozzle in turn；The electromagnetic valve is connected to shower nozzle.
2. a kind of spray robot control system based on PLC according to claim 1, it is characterised in that：The PLC controls
Device processed includes CPU module, position and speed control module and digital quantity output module, and the CPU module is used to complete whole system
Logical operationss and the information exchange with host computer touch screen, the position and speed control module mainly completes servo-driver
Position and direction controlling, the digital output module be used for gather external information and by the working condition of system by control
Out, the digital output module is sensed Display panel respectively with control panel, production line on off control module, alignment system
Signaling module carries out information exchange.
3. a kind of spray robot control system based on PLC according to claim 1, it is characterised in that：The touch
Host computer of the screen touch screen as PLC, carries out information exchange with PLC, is sent out to PLC by touch screen
Corresponding control instruction is sent, and the situation of the operation of PLC is shown.
4. a kind of spray robot control system based on PLC according to claim 1, it is characterised in that：Described first
Servo-driver, the second servo-driver and the 3rd servo-driver adopt AC servo driver, the first servomotor, the
Two servomotors and the 3rd servomotor adopt AC servo motor；4th servo-driver and the 5th servo-driver
Direct current servo driver, the 4th servomotor and the 5th servomotor is adopted to adopt DC servo motor.
5. a kind of spray robot control system based on PLC according to claim 1, it is characterised in that：The shower nozzle
On off state by PLC an output point Jing solenoid valve control, the concrete sequential of the nozzle switch has PLC
Internal control algolithm and control logic are realized.
6. a kind of spray robot control system based on PLC according to claim 1, it is characterised in that：The positioning
System sensing signaling module is used to detect the position signalling of product to be painted and feed back to PLC, then by PLC
Control production line on off control module carries out on off control action.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710146720.2A CN106647614A (en) | 2017-03-13 | 2017-03-13 | PLC-based (programmable logic controller-based) spraying robot control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710146720.2A CN106647614A (en) | 2017-03-13 | 2017-03-13 | PLC-based (programmable logic controller-based) spraying robot control system |
Publications (1)
| Publication Number | Publication Date |
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| CN106647614A true CN106647614A (en) | 2017-05-10 |
Family
ID=58847172
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710146720.2A Pending CN106647614A (en) | 2017-03-13 | 2017-03-13 | PLC-based (programmable logic controller-based) spraying robot control system |
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| CN (1) | CN106647614A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107479481A (en) * | 2017-08-03 | 2017-12-15 | 佛山市宏石激光技术有限公司 | Ku Ka robots flexibly control the methods, devices and systems of third party's servomotor |
| CN108284031A (en) * | 2018-03-23 | 2018-07-17 | 佛山华数机器人有限公司 | A kind of Control During Paint Spraying by Robot control system |
| CN110841844A (en) * | 2019-08-29 | 2020-02-28 | 苏州风正帆智能科技有限公司 | Automatic spraying device of robot |
| CN110919652A (en) * | 2019-08-30 | 2020-03-27 | 苏州风正帆智能科技有限公司 | Intelligent robot control system |
| CN111443662A (en) * | 2020-04-07 | 2020-07-24 | 上海信耀电子有限公司 | Integrated driving and controlling system based on four-axis robot |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107479481A (en) * | 2017-08-03 | 2017-12-15 | 佛山市宏石激光技术有限公司 | Ku Ka robots flexibly control the methods, devices and systems of third party's servomotor |
| CN108284031A (en) * | 2018-03-23 | 2018-07-17 | 佛山华数机器人有限公司 | A kind of Control During Paint Spraying by Robot control system |
| CN110841844A (en) * | 2019-08-29 | 2020-02-28 | 苏州风正帆智能科技有限公司 | Automatic spraying device of robot |
| CN110919652A (en) * | 2019-08-30 | 2020-03-27 | 苏州风正帆智能科技有限公司 | Intelligent robot control system |
| CN111443662A (en) * | 2020-04-07 | 2020-07-24 | 上海信耀电子有限公司 | Integrated driving and controlling system based on four-axis robot |
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| PB01 | Publication | ||
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| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: 230088 Embedded R&D Building 409, 5089 Wangjiangxi Road, Hefei High-tech Zone, Anhui Province Applicant after: Anhui Lang Ba Intelligent Technology Co., Ltd. Address before: 230088 Room 201, D8 Building, Innovation Industrial Park, 800 Wangjiangxi Road, Hefei High-tech Zone, Anhui Province Applicant before: Anhui Lang Ba Intelligent Technology Co., Ltd. |
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Application publication date: 20170510 |