The Structural Improvement Design And PLC Control Of This Manipulator

With the continuous progress of science and technology,more and more dangerous and complex jobs have been replaced by industrial robots.Especially in the aging of the population increasingly serious,a large number of young labor shortage today,"machine generation" has become the general trend.In most of the small and medium-sized printing plants in our country,the book block is still put by manual,which is not only inefficient,but also may cause a series of safety problems due to fatigue after the high frequency of the investment.Therefore,this paper aims at the problem of the printing plant,and designs a PLC-based manipulator.After understanding the actual situation and design requirements of the operation,the coordinate form and drive mode of the manipulator are determined,and the position relationship among the manipulator,the book block frame and the disk package machine is defined,the movement analysis and time analysis of the operation of the manipulator are carried out.The movement of the manipulator is divided into the reciprocating movement of the base and the column,the rotating movement of the wrist,the opening and closing movement of the claw and so on.With the help of SolidWorks software,the structure design,virtual assembly and interference check of these four parts are carried out,and the rationality of the structure of the manipulator is verified.Throw into the base part of the manipulator and the column part of the executive components for the hydraulic cylinder,wrist and claw parts are rotary cylinder and finger cylinder.After completing the structural design of the manipulator,the schematic diagram of the hydraulic and air pressure system is drawn,and the components of the hydraulic and air pressure system are designed and selected.According to the operation requirements of the delivery manipulator,the control requirements of the PLC control system are formulated,the I/O table and I/O wiring diagram are drawn,the control program ladder diagram is written,and the ladder diagram program prepared is input into the GX Works2 software for simulation debugging,and the rationality of the ladder diagram program is verified.Finally,GT Works3 software is used to design the touch screen human-computer interaction interface of the manipulator,which makes it more convenient for workers to operate the manipulator.Under the action of four optical fiber sensors,the cooperative control of the manipulator,the book block frame and the disk package machine can be realized.The manipulator can put the book block of A4 and B5,and the efficiency of putting it is much higher than that of putting it manually.To a large extent,it solves the problem of putting this operation in the printing plant and improves the automation of the production line in the printing plant.