Research On The Control System Of U-type Pipe Automatic Reclaimer

With adopting the car agencies,adopting intelligent manipulators,using Human-Machine Interaction technology,we have developed a system that can adapt to the U-type Pipe with different bending radius and length to reclaim in this paper,so as to realize flexible grab and transport of various types of U-type Pipe,and it forms a flexible production line.The main contents are as follows:Firstly,based on the material specification,production beat and the basic production process of U-type Pipe,a composite truss robot was developed on the basis of retaining the original columns,beams and guideways.The system that is designed for 3 mobile cars and 6 groups of manipulators,is used to grab the head,middle and tail of the U-type Pipe respectively.By adjusting the displacement of transverse,longitudinal and vertical directions,the U-type Pipe with different bending radius and length is grabed.Secondly,according to the peripheral equipments and refering to the design requirements of control system,build a control system of U-type Pipe antomatic reclaimer.Based on Siemens s7-1500 plc,control system module selections,electrical component selections and electrical schematic designs of the control system were completed.According to the calculation results and the requirements of the system running time,the selections of servo motors,speed regulating motors and electric cylinders are carried out.Then,based on the PROFINET communication protocol,the communication network view is constructed.The hardware configuration,HMI design and control system programming are carried out,and the motion control and positioning of servo motors,electric cylinders and speed regulating motors are realized.Finally,based on the Siemens v-assistant software,one key optimization is performed on the servo motor to achieve the optimal debugging status.Field experiment results show that the control system of U-type Pipe automatic reclaimer based on PLC meets the production requirements.The operation of the equipment is safe and stable,which can effectively improve the production efficiency and reduce the labor intensity of the workers.