The Design Of Small Carrying Manipulator Control System Based On Siemens PLC

Carrying manipulator is widely used in mechanical processing automatic line logistics system, and it is one of the important equipment in automatic line. Carrying manipulator is mainly used for moving of parts or finished products in a fixed position, replacing manual operations. It is widely used, particularly in the bad environment, such as in the toxic, flammable and explosive environment. Carrying manipulator has the characteristics of high automation, flexible action, replacing manual operation, speeding up the production rhythm, greatly improving the production efficiency and the quality of the product of manufacturing enterprises. The volume of carrying manipulator in industrial use is larger and the price is expensive. In order to meet the needs of teaching to design a small, flexible control small carrying manipulator has an important significance.This paper designs a multi-station carrying manipulator combines with the construction of our school’s flexible manufacturing laboratory. This manipulator is driven by micro motor to realize remote mobile.Through the implementation by the pneumatic finger, rotating cylinder and cylinder driving to realize moving material fetching and positioning function.Through the manner of man-machine interface (touch screen) and PLC to finish logic control, operation control and on-line monitoring of the manipulator.Through the analysis of small carrying manipulator control requirements, this paper decides to adopt CPU226AC/DC/RLY PLC of SIEMENS S7-200series and TP177B PN/DP type man-machine interface to joint control manipulator. Using SIMATIC WinCC flexible in TP177B touch screen to design the configuration, operation, monitoring interface. Adding a variable to the interface, setting up a connection, and it can control and monitor carrying manipulator by the touch screen.This thesis also designs control principle diagram of PLC, allocates the I/O address, writes the control program and finally achieves the control requirements. The method in this paper not only can be used for the designing of small carrying manipulator control system, but also it can be used for automatic control system of other configuration control. It has a universal significance to the development of series products of carrying manipulator control system.