基于PLC的四轴搬运机械手实验装置的研究  

Research of Four axial Carrying Manipulator's Experimental Device base on PLC Control System

作　　者：范芳蕾[1] 余宏涛[1] 张克义[1] 章国庆[1] 

机构地区：[1]东华理工大学江西省新能源工艺及装备工程技术研究中心,江西南昌330013

出　　处：《装备制造技术》2017年第10期80-83,共4页Equipment Manufacturing Technology

基　　金：江西省新能源工艺及装备工程技术研究中心开放基金(JXNE2014-04);江西省教育厅科学技术研究项目(GJJ160581)

摘　　要：基于Dobot机械臂设计原理确定结构尺寸,结合PLC实现控制系统设计,完成四轴搬运机械手实验装置的研制。该装置控制系统采用大工计控MAC1610运动控制器,控制四个步进电机,完成搬运功能。同时采用触摸屏作为人机交互设备,对各关节进行调试,根据记录的各关节的位置,完成示教再现功能。机械手结构紧凑,控制系统程序设计简洁、界面友好。Based on Dobot arm design principle,main structure dimension is determined and then a four-axis carrying manipulator with PLC control system is developed. MAC1610 motion controller produced by DCCE is selected to control four stepper motors and then fulfill carrying function. Simultaneously,every joint can be debugged respectively by using human-machine interface,and according to the absolute address which is record in advance,the teaching and playback function is realized. The structure of the carrying manipulator is compact,and control system is concise and its interface is friendly.

关 键 词：四轴搬运机械手 PLC 人机交互 控制系统 示教再现 

分 类 号：TP241.2[自动化与计算机技术—检测技术与自动化装置]