Study On Control Of Mechanical Hand Of Titrating Instrument Based On Siemens 1200

Since stepping into the industrial development,the use of industrial robots has greatly improved the work efficiency.The traditional titration method is carried out manually,and the inspector judges the color change through the eyes.With the progress of science and technology,this paper combines the manipulator with the image recognition system.The robot replaces the human arm,and the image recognition system replaces the human eyes,which greatly improves the detection accuracy and work efficiency.This paper studies and designs an intelligent chemical solution titration device for a chemical laboratory of an iron and steel plant.A three degree of freedom manipulator is designed for the chemical solution titration detection work to carry out the solution test bottle work.PLC controls the manipulator and Ni myrio controls the image recognition system for communication connection.Use TIA software to write control program;drive servo motor through servo driver to realize manipulator action;set two working modes of manual and automatic manipulator;operate touch screen to realize manipulator teaching mode control,return to origin operation and alarm light display.In this paper,through the structural analysis of the manipulator,the kinematic structural equation is summarized,and the action range of the manipulator is defined by analyzing the relationship between the spatial coordinate point of the manipulator and the angle between the manipulator arm.For the point-to-point straight line path,the linear interpolation algorithm is adopted;for the trajectory problem of the manipulator’s continuous action,in order to transform the straight line motion of the step-by-step action between the points into the curve motion of the continuous action,so as to make the motion trajectory more smooth and the manipulator’s action more coherent,based on Bezier curve algorithm and B-spline curve algorithm,it is optimized and proposed The algorithm of B-spline curve fitting of control points is given,compared with the original algorithm,the effectiveness of algorithm is verified.Combined with the actual working environment,according to the working requirements in special cases,the expected path of the manipulator end actuator is proposed.The improved algorithm is used to optimize the path and compare it with the step-by-step point-to-point straight path,highlighting the advantages of the curve algorithm,and the joint variables meet the task requirements.In this paper,Siemens PLC S7-1214 c is used for software design,Ni myrio is connected with TCP/IP protocol.Through the use of mcgse configuration environment software,Kunlun tpc7062 ti touch screen is designed and configured.