基于PLC的自动装料和码垛机器人  

Automatic Loading and Stacking Robot Based on PLC

作　　者：卢建军 卫延波 王进达 LU Jianjun;WEI Yanbo;WANG Jinda(College of Physics&Electronic Information,Luoyang Normal University,Luoyang 471934,China)

机构地区：[1]洛阳师范学院物理与电子信息学院,河南洛阳471934

出　　处：《电子质量》2025年第2期27-33,共7页Electronics Quality

摘　　要：为了减轻工人的劳动强度,设计了一种能自动装料和码垛的机器人。该机器人属于龙门式四自由度桁架机构,主要包括X、Y、Z轴和夹爪4个组件,X、Y轴采用丝杠螺母传动机构,由步进电机驱动;Z轴采用齿轮齿条传动机构,由交流伺服电机驱动,伺服电机自带抱闸;Z轴末端安装有夹爪,其通过气动方式控制,作用是抓取料框。选用位置控制方式,利用触摸屏和可编程逻辑控制器(PLC)实现对系统的控制。主要设计内容包括机械结构设计,控制系统设计,PLC、驱动器等硬件的选型及对应的外部接线电路设计,系统动作流程及梯形图程序的编写和人机界面的设计等。经过组装、调试,设计的机器人能满足自动化作业需求。In order to reduce the labor intensity of workers,a robot that can automatically load and palletize is designed.The robot belongs to the gantry type four-degree of freedom truss mechanism,which mainly includes four components of X,Y,Z axis and claw.X,Y axis adopts screw nut drive mechanism,and they are driven by stepping motor.Z axis adopts rack and pinion drive mechanism,and it is driven by AC servo motor with lock.The end of the Z axis is equipped with a clamp,and it is controlled by pneumatic means and its function is to grab the material frame.Through position control,touch screen and PLC are used to control the system.The main design contents include mechanical structure design,control system design,PLC controller,driver and other hardware selection and corresponding external wiring circuit design,system action flow and ladder diagram program writing,humanmachine interface design.After assembly and debugging,the designed robot can meet the requirements of automatic operation.

关 键 词：桁架机器人 可编程逻辑控制器 控制系统 电路设计 梯形图程序 人机界面 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]