柔性制造单元桁架机械手上下料控制程序设计  

Control Program Design for Loading and Unloading of Flexible Manufacturing Cell Truss Manipulator

作　　者：郑海鑫 李修岭 朱璟[1] 朱永军 王元生[1] ZHENG Hai-xin;LI Xiu-ling;ZHU Jing;ZHU Yong-jun;WANG Yuan-sheng(School of Automotive and Transportation,Yancheng Polytechnic College,Yancheng 224005,China;China Railway Lanzhou Bureau Group Co.,Ltd.,Lanzhou 730030,China;Jiangsu Julong Electric Vehicle Manufacturing Co.,L td.,Yancheng 224041,China)

机构地区：[1]盐城工业职业技术学院汽车与交通学院,江苏盐城224005 [2]中国铁路兰州局集团有限公司,甘肃兰州730030 [3]江苏巨龙电动车制造有限公司,江苏盐城224051

出　　处：《机械工程与自动化》2023年第2期25-28,共4页Mechanical Engineering & Automation

基　　金：江苏省产学研合作项目(BY2022465);盐城市王元生技能大师工作室基金项目;盐城工业职业技术学院横向科研课题(2023HX-16)。

摘　　要：针对当前小型精密轴类零件制造自动化程度低及加工质量不稳定等问题,规划了以桁架机械手为上下料装置的FMC布局及上下料控制流程,以SIMATIC S7-1200系列PLC为控制器,完成了主要硬件设备选型和I/O信号地址分配,设计了CNC与PLC信息交互、桁架坐标轴控制和机械手气动夹爪控制等功能模块的PLC程序,并进行了程序仿真与样机调试试验。试验结果表明,该桁架式机械手控制系统运行平稳、性能可靠,显著缩短了FMC非切削时间,提高了生产效率。In view of the low degree of manufacturing automation and unstable machining quality of small precision shaft parts,the FMC layout and loading and unloading control flow with truss manipulator as loading and unloading device are planned.Using SIMATIC S7-1200 series PLC as the controller,the selection of main hardware equipment and the address assignment of I/O signal are completed,and the PLC programs of functional modules such as information exchange between CNC and PLC,truss coordinate axis control and manipulator pneumatic claw control are designed,and the program simulation and prototype debugging tests are carried out.The test results show that the control system of the truss manipulator runs smoothly and reliably,which significantly shortens the non-cutting time of FMC and improves the production efficiency.

关 键 词：柔性制造单元 桁架机械手 上下料控制 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]