The Control Design Of Pharmaceutical Filling System Robot Handling Unit

The mode of manual operation,which is often used to handle the package transport process in domestic drug filing system,is inefficient,labor intensive and lack of quality control.With the shortage of human resources and development of automatic control and industrial robot,China is strongly promoting intelligent manufacturing,and industrial upgrading.Machine substitution is the general trend.Industrial robots can not only replace increasingly labor,but also improve product quality and work efficiency,reduce product costs,and enhance equipment utilization.Under this premise,exploring the control of industrial robots to complete the drug transport packaging process has important practical significance on the intelligent transformation of other industry production.The industrial robot transport packaging unit in this paper is designed to have PLC(programmable logic controller)as the core of control,sensors and other communication data as input signal,and cylinder,sucker,solenoid valve,stepping drive system and industrial robot as executive components.It will closely connect with other units of drug filing system to complete drug boxing,packing box processing and packing box labeling.Firstly,the paper analyses the current situation of domestic pharmaceutical packaging process,points out the problems of production process and comes up with the main content and target of this topic research besides the research methods and key problems to be resolved.And then,the paper elaborates the hardware framework of the entire transport unit,discusses the basic structure of programmable control system,determines the selection results and technical parameters of every component,and designs wiring diagram and gas circuit diagram of the relevant components.In the following,this paper designs the PLC control program with the help of GX Developer software based on the idea of structured programming and sequential control.The program solves key problems such as sequential control of PLC,the communication between PLCs,and the reset control of robots and lifting device.The robot transport program is designed after using RT ToolBox2 software to process off-line programming on industrial robots.It solves the pallet labeling,the labeling control of different drug boxes,and other key problems.At last,not only the simulation test of PLC and robot program but also the tests among pneumatic system,drive system,industrial robot and the whole system are carried out.The test results demonstrate that the control design can meet the expected requirements.