基于PLC技术的采摘机械臂气动控制与应用  

Pneumatic Control and Application of Picking Manipulator Based on PLC Technology

作　　者：杨金玉 Yang Jinyu(Inner Mongolia Vocational and Technical College of Communication,Chifeng 024005,China)

机构地区：[1]内蒙古交通职业技术学院,内蒙古赤峰024005

出　　处：《农机化研究》2023年第12期230-234,共5页Journal of Agricultural Mechanization Research

基　　金：内蒙古自治区高等学校科学研究项目(NJSY17641)。

摘　　要：对气动式采摘机械臂系统进行研究,利用可编程控制器(PLC)设计了一种采摘机械臂气动控制系统。利用气压传动驱动、双向作动气缸和双控电磁阀相结合的方式,建立采摘机械臂气动系统。基于PLC技术进行气动系统控制器设计,对控制器进行硬件选型和手动控制与自动控制两种工作模式的接线图、控制程序和顺序功能图的设计。试验数据表明:系统在运行过程中平均振动频率较小,不会对控制系统运行产生危害,最小采摘成功率达到80%,具有良好的工作性能和稳定性,可为智能化高性能农业采摘装置的研发提供借鉴。Through the research of pneumatic picking manipulator system,the use of programmable logic controller(PLC)to design a picking manipulator pneumatic control system.The pneumatic system of picking manipulator is established by the combination of pneumatic drive,two-way actuating cylinder and double control solenoid valve.The controller of pneumatic system is designed based on PLC technology.The hardware design and selection of the controller are carried out,and the wiring diagram,control program and sequence function diagram of manual control and automatic control are designed.The system test data show that the average vibration frequency of the system is small in the operation process,which will not harm the operation of the control system,and the minimum picking success rate reaches 80%,indicating that the system has good working performance and stability,which provides reference for the popularization of intelligent high-performance agricultural picking device.

关 键 词：采摘机械臂 气动控制系统 可编程控制器 顺序功能图 

分 类 号：S225[农业科学—农业机械化工程] TP242[农业科学—农业工程]