基于PLC的挤奶机器人三自由度机械臂控制方法研究  

Research on Control Method of 3-DOF Manipulator for Milking Robot based on PLC

作　　者：郭洋[1] 吴泽全[1] 蔡晓华[1] 侯云涛[1] GUO Yang;WU Zequan;CAI Xiaohua;HOU Yuntao(Heilongjiang Institute of Agricultural Mechanical Engineering Science, Harbin 150081, China)

机构地区：[1]黑龙江省农业机械工程科学研究院,哈尔滨150081

出　　处：《农业科技与装备》2017年第6期15-17,21,共4页Agricultural Science & Technology and Equipment

基　　金：国家科技支撑计划课题奶牛设施养殖智能化关键技术装备研究(2014BAD08B10)

摘　　要：为提高我国奶牛养殖自动化水平,研究一种挤奶机器人机械臂控制系统。该系统采用PLC通过CANOpen通信控制伺服电机驱动机械臂完成一系列挤奶动作,整个过程无人化,实现自动化挤奶的同时可以有效提高挤奶工作效率和产奶量、节省生产成本和劳动时间,填补了国内挤奶机器人产品的空白。To improve the automatic level of dairy farming in China,in this paper it studied a kind of control system of the robot robotic arm for milking robot.The system realized a series of milking movements using PLC through CANOpen communication controlling servo motor to drive robot arm.The whole process was of unmanned,at the same time of realizing automatic milking it effectively improved the milking efficiency and milk production,saving production costs and labor time,which filled the blank of domestic milking robot products.

关 键 词：挤奶机器人 伺服电机 PLC 三自由度机械臂 CANOpen通信 控制方法 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]