CN108115659A - A kind of pneumatic explosive conveying robot based on PLC - Google Patents
A kind of pneumatic explosive conveying robot based on PLC Download PDFInfo
- Publication number
- CN108115659A CN108115659A CN201611065894.8A CN201611065894A CN108115659A CN 108115659 A CN108115659 A CN 108115659A CN 201611065894 A CN201611065894 A CN 201611065894A CN 108115659 A CN108115659 A CN 108115659A
- Authority
- CN
- China
- Prior art keywords
- pneumatic
- conveying robot
- plc
- control
- robot based
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
A kind of pneumatic explosive conveying robot based on PLC, by that mechanical, pneumatic, electrical and PLC control system comprehensive design, can realize automatic, manual cycle control that explosive is carried.The paw portion of the manipulator also has crawl manually and 2 kinds of modes of crawl select automatically, so as to add the flexibility of PLC control system；Remote control and operation can be carried out to manipulator, improve the degree of automation and production security that explosive carries work.
Description
Technical field
The present invention relates to a kind of pneumatic explosive conveying robot based on PLC, suitable for machinery field.
Background technology
At present, domestic many explosive production producers are still completed in explosive screening process by the mode manually carried, this
So that the degree of automation of explosive screening operation is not high;Simultaneously, explosive is a kind of combustible and explosive articles again, slightly not note that will
Bring the massive losses of life, property.And pneumatic antomation technology there is now tremendous development, and be increasingly becoming and disclosure satisfy that perhaps
A kind of important practical technology of conglomerate production practices requirement.Therefore, pneumatic antomation technology is applied to explosive production process
In, it improves explosive and carries the degree of automation of work, reduces loss, there is very real meaning.
The content of the invention
The present invention proposes a kind of pneumatic explosive conveying robot based on PLC, by machinery, pneumatic, electrical and PLC
The comprehensive design of control system can realize automatic, manual cycle control that explosive is carried.
The technical solution adopted in the present invention is：
The pneumatic explosive conveying robot includes mechanical system and control system.The mechanical system is by arm, paw and base
The part such as seat is formed, and has 3 one-movement-freedom-degrees and 2 rotary freedoms, realize respectively the promotion of manipulator, flexible, clamping,
Rotation and wobbling action.
For the control system using Mitsubishi FXln PLC as core, cooperation stepping sequence control command programmed method builds control system
Platform drives the executive component such as generations such as straight line cylinder, oscillating cylinder to act, completes machinery by electrical-atmospheric control
5 kinds of actuation cycles of hand.
The pneumatic explosive manipulator additionally provide whole automatic cycle, manual single step run and mechanical paw it is automatic,
The selection of the multiple control modes such as clamping manually, adds the flexibility of control system.
The pneumatic explosive conveying robot is made of the part such as paw, arm and pedestal, and each several part is further through corresponding
Cylinder realize predetermined action.
The pneumatic control method of the explosive Pneumatic Manipulator is by source of the gas, gas source triplet, the control of source of the gas break-make
The control valve group of valve and each cylinder is into sequentially-operating circuit.
The beneficial effects of the invention are as follows：The paw portion of the manipulator also has crawl manually and 2 kinds of modes of crawl are selected automatically
It selects, so as to add the flexibility of PLC control system；Remote control and operation can be carried out to manipulator, improve explosive and remove
Transport the degree of automation and production security of work.
Description of the drawings
Fig. 1 is the conveying robot structure diagram of the present invention.
Fig. 2 is the pneumatic control schematic diagram of the present invention.
Fig. 3 is the PLC of the present invention and the logic line circuit diagram of component and the allocation table of I/O contacts.
Fig. 4 is the state transition diagram of the manipulator of the present invention.
In figure：1. paw gripper cylinder；2. arm part telescopic cylinder；3. paw portion oscillating cylinder；4. shoulder lifting cylinder；
5. pedestal rotary cylinder；6. robot base；7. manipulator arm；8. manipulator claw；9. manipulator shoulder.
Specific embodiment
The invention will be further described with reference to the accompanying drawings and examples.
Such as Fig. 1, pneumatic explosive conveying robot is made of the part such as paw, arm and pedestal, and each several part is further through phase
The cylinder answered realizes predetermined action, and dynamite container is carried after trolley is transported to appointed place, and manipulator obtains working signal, hand
Pawl opens, and passes through lifting cylinder 4 and promote arm and be higher by the supreme restraining position of dynamite container, and the telescopic cylinder 2 in arm is by paw
It extend out to directly over dynamite container, cylinder 4 drops to dynamite container centre position, and paw gripper cylinder 1 acts, and shrinks paw, will
Dynamite container clamps.Then cylinder 4 is acted again by dynamite container promotion to upper limit position, and pedestal cylinder 5 rotates manipulator
To up to sieve top, claw oscillating cylinder 3 works, and explosive is poured out in paw rotation.Then oscillating cylinder 3, torsion cylinder 5, gas
Cylinder 4 and cylinder 1 reverse operation successively, the dynamite container of emptying are put back on the correspondence station of multistation carrier loader, then hand
Arm is withdrawn, and waits next work period.Therefore, manipulator has 5 degree of freedom：3 one-movement-freedom-degrees and 2 rotations are freely
Degree, the promotion of control machinery hand, flexible, clamping, rotation and wobbling action, are specifically described as respectively：Shoulder promotion → arm is stretched
Go out → paw clamping → shoulder promotion → pedestal torsion → paw swing → paw swing return → pedestal torsion return → shoulder
Decline → paw release → arm retraction → shoulder declines → is completed the work period.
Such as Fig. 2, the pneumatic control method of explosive Pneumatic Manipulator is by source of the gas, gas source triplet, source of the gas break-make control
The control valve group of valve processed and each cylinder is into sequentially-operating circuit.
The gas that source of the gas comes out is filtered by gas source triplet, depressurized, after lubricated, passes through corresponding solenoid directional control valve
To drive each pneumatic apparatus, realization predetermined action.Wherein arm telescopic cylinder, shoulder lifting cylinder, pedestal torsion cylinder
It is to be controlled by respective three position five-way valve, realizes that each cylinder can stop at the desired position.Oscillating cylinder is by 1
A two-position five-way valve controls.In paw portion, two position three-way valve and hand control valve are made choice by shuttle valve, realized to clamping
Cylinder with manually control selections, while controls by pressure reducing valve and pressure gauge the size of the chucking power of paw automatically.In addition,
Each cylinder inlet, outlet is fitted with throttle valve, can realize the control to cylinder moving speed；The gas outlet of solenoid valve all fills
There is silencer, it is possible to reduce compressed gas is to the noise pollution of environment.
Such as Fig. 3, according to the action request of manipulator and pneumatic control principle, electrical executive component (various solenoid valves)
Using direct current 24V, and green indicating lamp is set, so as to safe and reliable.
The required output signal ends of PLC：For the solenoid valve of 5 cylinders is driven to need 8 output signals, 1 electromagnetism
The output signal of valve is used for controlling the break-make of entire pneumatic system, 2 START for being used for display working condition, and RESET signal refers to
Show lamp, they are respectively intended to instruction START, the closure state of RESET buttons.
From analyzing above, analogue transformation and storage is not required in the system, it is only necessary to 26 digital output moduls, and
To the sweep speed of PLC and other aspects without particular/special requirement.Therefore the PLC of FXln-40MR-ES models is selected, it shares at 24 points
Input, 16 points of outputs, random access memory is 8000 steps, inside sets sufficient counter, timer and various auxiliary relays etc., tool
There are stronger data processing and communication capacity, command function enriches.
It such as Fig. 4, is programmed using FXGP_WIN-C softwares, the powerful achievable test of the software function, online programming, fortune
The multiple functions such as row diagnosis, and with friendly user interface.It supports a variety of volumes such as ladder diagram, instruction catalogue, sequential function chart
Collect language.Since the action process of manipulator is sequentially-operating, each step process be back action complete on the basis of,
The operation of next step is carried out again, so stepping sequence control command programmed method is selected, in addition, the startup of Pneumatic manipulator must be in original
It could start under the state of position, therefore must power off YS, Y10, Y2, Y4, Y7 are powered, and cylinder is made, which to return under reset condition, can just open
It is dynamic.Program thread：Each output state of manipulator should be considered first in programming, then related with each output action
The state of each entering apparatus of connection is listed, and to consider the specific requirement of system control, should such as when pressing STOP buttons
It is stopped at once after having run the work period, presses RESET, button can reset within next work period.According to reality
Border requirements of one's work, control mode have manually and automatically 2 kinds.
When auxiliary relay M0, M3 are connected, Pneumatic manipulator performs automatic running mode, and wherein S0 is original state, when
When one stater condition meets, next stater is performed, Xun Huan performs successively.The manual method of operation is performed when M3 is disconnected,
All output signals are all by button by being accomplished manually.
Claims (7)
1. a kind of pneumatic explosive conveying robot based on PLC, it is characterized in that：The pneumatic explosive conveying robot includes machinery
System and control system.
2. a kind of pneumatic explosive conveying robot based on PLC according to claim 1, it is characterized in that：The control system
For system using Mitsubishi FXln PLC as core, cooperation stepping sequence control command programmed method builds control system platform, by electrical-pneumatic
Such as generations such as straight line cylinder, oscillating cylinder of control system driving executive component act, and complete 5 kinds of actuation cycles of manipulator.
3. a kind of pneumatic explosive conveying robot based on PLC according to claim 1, it is characterized in that：It is described pneumatic fried
Medicine manipulator additionally provides the various controls such as whole automatic cycle, manual single step run and mechanical paw are automatic, clamp manually
The selection of mode adds the flexibility of control system.
4. a kind of pneumatic explosive conveying robot based on PLC according to claim 1, it is characterized in that：It is described pneumatic fried
Medicine conveying robot is made of the part such as paw, arm and pedestal, and each several part is realized predetermined dynamic further through corresponding cylinder
Make.
5. a kind of pneumatic explosive conveying robot based on PLC according to claim 1, it is characterized in that：It is described entire soft
Property mounting plate control system contains servo-control system, PLC logic control systems and PC control monitoring system.
6. a kind of pneumatic explosive conveying robot based on PLC according to claim 1, it is characterized in that：The explosive gas
The pneumatic control method of dynamic conveying robot is by the control of source of the gas, gas source triplet, source of the gas on-off control valve and each cylinder
Valve group is into sequentially-operating circuit.
7. a kind of pneumatic explosive conveying robot based on PLC according to claim 1, it is characterized in that：The machinery system
System is made of the part such as arm, paw and pedestal, is had 3 one-movement-freedom-degrees and 2 rotary freedoms, is realized manipulator respectively
Promotion, flexible, clamping, rotation and wobbling action.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611065894.8A CN108115659A (en) | 2016-11-28 | 2016-11-28 | A kind of pneumatic explosive conveying robot based on PLC |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611065894.8A CN108115659A (en) | 2016-11-28 | 2016-11-28 | A kind of pneumatic explosive conveying robot based on PLC |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108115659A true CN108115659A (en) | 2018-06-05 |
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ID=62224618
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611065894.8A Pending CN108115659A (en) | 2016-11-28 | 2016-11-28 | A kind of pneumatic explosive conveying robot based on PLC |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108115659A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108942913A (en) * | 2018-09-10 | 2018-12-07 | 长春工业大学 | A kind of pneumatic actuation industrial robot structure |
| CN109341748A (en) * | 2018-11-09 | 2019-02-15 | 罗博特科智能科技股份有限公司 | A kind of rotating disc type vision inspection apparatus |
-
2016
- 2016-11-28 CN CN201611065894.8A patent/CN108115659A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108942913A (en) * | 2018-09-10 | 2018-12-07 | 长春工业大学 | A kind of pneumatic actuation industrial robot structure |
| CN109341748A (en) * | 2018-11-09 | 2019-02-15 | 罗博特科智能科技股份有限公司 | A kind of rotating disc type vision inspection apparatus |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180605 |
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| WD01 | Invention patent application deemed withdrawn after publication |