Design And Exploitation Of Side Take Manipulator Control System

With the continuous improvement of industrial production automation, the manipulator is playing an increasingly important role in the pipeline, and it has become an indispensable link in the modern industrial production. Due to the horizontal injection molding machine is easy to realize the advantages of automation, the general-purpose manipulator cooperate with horizontal injection molding machine is widely used. The manipulator cooperate with the injection molding machine produced by each manufacturer have been relatively uniform, its structure and function has tended to perfection. However, some manufacturers using a vertical injection molding machine due to various constraints, hope to increase productivity through the manipulator instead of picking up and putting down by manpower. And side take manipulator matches with vertical injection molding machine relies on foreign manufacturers mainly, facing problems such as side take manipulator domestically produced is unstable, while a imported one is expensive, and other issues. These make the development side take manipulator an important significance.In this paper, the side to take the robot control system for the study of pneumatic control technology, servo control technology, sensing technology has been studied using OMROM PLC and touch screen respectively, to complete the side to take the robot control system programming and interface design, and through on-site commissioning and completion of the test demonstrated the reliability of the robot.The main work of this paper is focused on the motion control design and touch screen state monitoring design of the manipulator. First of all, the mechanism and movement process of each part of the manipulator are analyzed, and determine the overall control scheme. Next the input circuit, pneumatic control circuit and servo control circuit of the system are designed. This part includes intermediate relay, solenoid valve and cylinder control circuit design of air pressure drive, and selection of servo motor, calculation of transmission ratio and electronic gear ratio, and the connecting way of servo drive and PLC, etc. Then the system software control flow is formulated and control program finish writing. This part includes the origin return program design, manual control program design, automatic control program design, alarm and stop program design, and touch screen control program design, etc. At last, the feasibility of system are verified through the on-site debugging, and using photoelectric detector measure have been carried out to verify the repositioning precision of the system.