基于PLC控制的臂式气动机械手的研制

1、机电工程技术2011年第40卷第2期基于PLC 控制的臂式气动机械手的研制黄广伟（东莞理工学院城市学院，广东东莞523106） 收稿日期：20100901，气动控制技术在制造业等行业得到了广泛应用。为适应社会需求，PLC 控制系统的设计，研制出了基于PLC 控制的臂式气动机械手。，达到预期的效果。；机械手文献标识码：B文章编号：10099492(2011020035021引言为了使机电工程系学生能够更好地掌握气动技术、传感技术及PLC 编程技术，并能利用它们进行创新设计，笔者专门研制了一种基于三菱PLC 控制的臂式气动机械手，该机械手能实现抓取物品、上下、前后及旋转运动。2臂式气动机械手的总体

2、结构设计臂式气动机械手的基本结构如图1所示，由V 型夹手1、上下移动缸2、前后伸缩缸3、立柱4、回转缸5以及用于固定用的底板6等组成。上下行程为100mm ，左右行程为150mm ，总体尺寸（长×宽×高）为400mm×200mm×600mm ，立柱采用铝合金材料。考虑到受力情况及产品的性价比，上下移动缸及前后伸缩缸均采用台湾的CHANTO 长拓缸径D 10mm的双轴单作用缸。该臂式气动机械手配有电控箱，电控箱与机械手主体分离，可实现远程控制。操作面板、电磁阀、PLC 可编程控制器等均安装在电控箱上。3臂式气动机械手的功能要求该气动机械手功能：夹手1可以夹

3、住物品，在上下移动缸2的作用下可实现上下移动，而在前后伸缩缸3作用下可实现前后移动，在回转缸5作用下可实现绕Z 轴作90°旋转运动。机械手具有一定的开放性，可根据不同的要求实现不同的运动组合，从而实现不同的应用功能。当机械手处于图1所示状态，夹头打开，上下移动缸处于最顶端，前后伸缩缸处于最后端时为原始状态。机械手典型动作过程：将左下方的物品夹住，顺时针旋转90°，搬往右前下方，并回到原点。1个工作周期如下：当按下启动按钮，上下移动缸2向下伸出并延时2秒V 型夹手1夹紧物品并延时1秒上下移动缸2向上缩回并延时2秒回转气缸5将顺时针转过90°并延时2秒前后伸缩缸3将向

4、前伸出并延时2秒上下移动缸2将向下伸出并延时2秒V 型夹手1将松开放下物品并延时2秒上下移动缸2将向上移动并延时2秒前后伸缩缸3将向前伸出延时2秒回转气缸5逆时针转过90°回到初始状态，等待下一次指令。4臂式气动机械手的气动系统设计气动原理如图2所示，实现对2个直动气缸、1个回转气缸及1个夹手的动作控制。气动系统由1个二位二通1夹手2上下移动缸3前后伸缩缸4立柱5回转缸6底座图1臂式气动机械手结构图机电工程技术2011年第40卷第2期 图4PLC 控制程序梯形图图3PLC 的外部接线1空气压缩机2单向阀3压力表4储气罐5溢流阀6分水滤器7减压阀8两位两通双线圈电磁阀9夹头10消声器1

5、1调速阀12二位五通双线圈电磁阀13直动双轴作用气缸14回转气缸图2气动原理图工的电磁阀、3个二位五通双线圈电磁阀、1个回转气缸、2个双轴作用直动气缸、1个夹手、6个调速阀、若干个消音器以及其它的元件组成。调速阀11的作用是调整各气缸运行速度，以防止因速度过大对物料及机械手的冲击，保持机械手的各个动作协调；3个二位五通双线圈电磁阀12控制气动回路的换向，从而实现双轴作用直动气缸上升和下降、往前和往后，以及回转气缸的回转运动；二位二通的电磁阀用以实现夹手9的夹紧与放松功能。5臂式气动机械手PLC 控制系统设计51PLC 型号的选定由该气动机械手的基本功能要求可以知道，有启动、停止两个输入点、有用

6、于控制3个二位五通双线圈电磁阀及1个二位二通的电磁阀的四个输出点。考虑到在实际安装、调试和应用中，还可能会发现一些估算中未预见到的因素，根据实际情况增加一些输入、输出信号，在选型中应多预留一些点数，以备将来调整、扩充使用。因此PLC 选用了三菱的FX 系列的FX2N 24MR1，直流24V 稳压电源，输入与输出点数均为12，符合要求。52PLC 的外部接线图（安装图）根据该臂式气动机械手一个典型动作过程，将各电磁阀及按钮的接线分别接到电控箱上PLC 控制器相应的输出、输入接口上。PLC 的外部接线图如图3所示。启动按钮X1、停止按钮X2分别接PLC 的输入点X101、X102；而PLC 的输出

7、点Y201、Y202、Y203、Y204分别接电磁阀YA1（回转缸）、电磁阀YA2（夹头）、电磁阀YA3（上下移动缸）、电磁阀YA4（前后伸缩缸）。53PLC 控制系统程序设计PLC 控制系统程序设计是整个气动机械手的核心部分，也是实现整个系统预定功能的至关重要部分。考虑到该机械手的功能要求，本设计采用STL （步进梯形）指令的方法进行编程。STL 指令是用于设计顺序控制程序的专用指令，该指令易于理解，使用方便，运用相当广泛2。（下转第99页）机电工程技术2011年第40卷第2期 根据该臂式气动机械手一个典型动作过程，设计出PLC 控制程序的梯形图如图4所示。6结语该臂式气动机械手充分发挥了P

8、LC 、气动技术的优点，将气动技术、传感技术、机电控制技术三者很好的结合起来，具有一定的开放性，可根据不同的要求，编写不同的程序以实现不同的功能。经过多次实验与调试，以及半年来实际使用后反馈的情况来看，该臂式气动机械手能够较好地完成预定的动作，安全性、可靠性、准确性都良好。参考文献：1长拓液压气动有限公司长拓液压气动有限公司产品手册Z 20062廖常初PLC 基础及应用（第2版）M 北京：机械工业出版社，2007作者简介：黄广伟，男，1982年生，广东汕尾人，硕士研究生，助理实验师。研究领域：机电一体化、PLC 技术、液压与气动技术。已发表论文1篇。(编辑：吴智恒图6进线间隔简化后的平面布置和

9、侧视GIS 进线间隔简化后，在靠近进线处已没有分支存在，即没有刀闸和地刀，也没有过渡气室。PT 及LA 布置在间隔入口处，如图6所示，位于间隔筒体的上方或下方，见NN侧视图。4GIS 简化主接线的实例率先使用GIS 的国家，大多采用了简化的主接线方式。简化一次主接线中，图7是比较典型的双母进线间隔剖面及各个电气元件的位置2。它既考虑了GIS 免维护的特点，也考虑了检修拆装的可能性和元件的更换，同时充分利用空间来布置，做到结构紧凑，整体运输（注意：整个间隔运输时是不装PT 的）。5结语根据GIS 占空间小、可靠性高的特点，当采用简化一次主接线以后，可以更体现GIS 的优点和长处，同时还能节省电站

10、一次设备的投资，是一举两得的好事，值得推广。参考文献：1黎斌SF 6高压电器M 北京：机械工业出版社，20082PTCSF 6绝缘金属封闭开关设备GIS Z 2008作者简介：方煜瑛，女，1975年生，广东顺德人，大学本科，工程师。研究领域：8001100kVGIS 工程设计。已发表论文4篇。(编辑：王智圣图7简化主接线的实例!（上接第36页）Abstracts11-02-13Research of the Reasoning Machine for the Watch Product Design11-02-16ISIGHT Based Structural Optimization of

11、Machine Tool Spindle11-02-18Parametric Design of Rail Container Gantry Crane11-02-21UG-Based Automobile Cover Drawing Die Entity Design11-02-24The Application of 1D Simulation during the Development of the Turbocharged Gasoline Engine11-02-27A HMI Design for 8-Bit MCU Application11-02-31Study on Com

12、munication and Control System of Cash Recycling ATM Based on CAN Bus11-02-35Study of Arm Pneumatic Manipulator Based on PLC ControlledLI Shi-jie, YUAN Qing-ke, GUO Chun-rong, ZHAN Pei-zhi Abstract:Key words:ZHANG Wei , ZHOU Zhi-shu Abstract:Key words:ZHANG Huan, XIA Xu-hui, GAO Long Abstract:Key wor

13、ds:LI Chun-you Abstract:Key words:XU Si-chuan, DENG Xiao, HAN Wen-yan Abstract:Key words:HU Yong-jian Abstract:Key words:WEI Wen-qiu, ZHUANG Huan-wei Abstract:Key words:HUANG Guang-wei Abstract:Key words:According to the feature of watch products and watch design methods of the experts, by discussin

14、g the reasoning machine of the watch products design, this paper puts forward a new reasoning strategy, which is integrated by the rule-based reasoning and the simulated annealing algorithm reasoning and describe the procedure in detail.reasoning machine; rule-based reasoning machine; SA-based Reaso

15、ning Machine; reasoning strategyThe mechanical optimal design provide an important scientific design for the engineering design. ISIGHT is used in this article, to achieve the objectives of minimizing spindle deflection and the lightest weight of the spindle shaft. It establishes a mathematical mode

16、l of shafts multi-objective optimization, and optimizes the design of the spindle. This method is simple and practical, and the optimal results are reasonable and reliable. ISIGHT; machine tool spindle; optimizationIt introduces a kind of design method in gantry Crane based on VB by calling ANSYS. I

17、t makes full use of the advantage of VB in GUI development to connect VB with ANSYS, and uses VB language designed a good visual interface of crane metal structure analysis interface. The method has improved the efficiency of the crane design analysis and the flexibility of operation which has guidi

18、ng significance.parametric design; VB; gantry craneIn this paper, automobile panel B under column support plate of tools described in UG as a means of drawing die for their detailed entity design, to complex automobile panel drawing die design of the study to guide the actual production. UG; automot

19、ive panel; drawing dieThe 1D thermodynamic simulation has been widely used among the development of the spark-ignition gasoline engine. In this paper, by using the 1D simulation software Amesim, a turbocharged gasoline engine simulation model was built up. Valve timing, intake &exhaust systems w

20、ere optimized during the simulation, and the turbocharger matching calculation was done as well. By comparing the results between the test and the simulation, the simulation was validated.1D thermodynamic simulation; spark-ignition gasoline engine; developmentIn order to expand the function of 8-bit

21、 MCU, a HMI(HumanMachine Interface design with LPC2478MCU is given which can control TFT LCD display, get key value from keyboard and touch screen, set and clear digital I/O,save and load data etc. This HMI is especially suitable for product development in specialty field, an application example in

22、dry block temperature calibrator is given at the same time.HMI; 8-bit MCU; LPC2478; SCPIThis paper constructs a distributed control and communications system for Cash Recycling ATM based on CAN bus and digital signal controller, after analyzing its diversity and complexity in architecture and functi

23、on, and its some unique requirements as a financial security, such as security, real-time, stability. And a hardware structure and software method of communication and control system for every module is presented systematically and detailedly based on stability and the real-time requirements. The tr

24、ial machine proved that the above system and methods can meet the Cash Recycling ATMs high real-time, security, stability requirements.cash recycling ATM; CAN bus; information interaction; digital signal controllerWith the rapidly development of industrialization, the pneumatic controlled technology

25、 has been widely applied in the manufacturing industry. To meet the needs of community and teaching, and concerning with pneumatic and PLC technologies, the overall structure of manipulator, the pneumatic circuit and the PLC control system are designed. The arm pneumatic manipulator based on PLC controlled is also designed. Judging from the results of debugging and usage, the pneumatic manipulator has run well under the control of PLC, and achieved the desired res