基于PLC控制的管路接头自动对接夹持器设计
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摘要
为了提高现代空调制造企业中管路快速接头对接的自动化程度,实现机器换人的过程,分析管路快速接头的机械结构和工作原理,采用仿人手操作的对接方法,设计出一种基于PLC控制的五自由度气动夹持器。在分析气动夹持器的工作原理和控制要求的基础上,设计了对应夹持器的气压传动系统。介绍了三菱FX3U-40MT PLC与外部各元器件的连接,以及对PLC电气控制系统程序进行设计。在FluidSIM虚拟仿真实验平台上进行了电气控制下的气压回路仿真实验,验证了夹持器可以按照预定的动作实现管路快速接头的对接。
Modern air-conditioner manufacturing enterprises need to improve degree of automation in the connection of pipe quick connectors,and realize machine substitution. However,automatic docking of pipe joints is a key problem. By analyzing mechanical structure and working principle of pipe joints,we design a pneumatic gripper with PLC control. It has five degrees of freedom,and uses a method of imitating manual operation. According to the working principle and the control requirements of the gripper,a pneumatic transmission system is designed.Also,the connection between the Mitsubishi FX3 U-40 MT PLC and external components and design of PLC electrical control system program are introduced in detail. The simulation experiment of pneumatic circuit under electrical control is carried out on the Fluid SIM virtual simulation platform. The simulation experimental result shows that the gripper can realize the connection of pipe joints according to the preset action.
Modern air-conditioner manufacturing enterprises need to improve degree of automation in the connection of pipe quick connectors,and realize machine substitution. However,automatic docking of pipe joints is a key problem. By analyzing mechanical structure and working principle of pipe joints,we design a pneumatic gripper with PLC control. It has five degrees of freedom,and uses a method of imitating manual operation. According to the working principle and the control requirements of the gripper,a pneumatic transmission system is designed.Also,the connection between the Mitsubishi FX3 U-40 MT PLC and external components and design of PLC electrical control system program are introduced in detail. The simulation experiment of pneumatic circuit under electrical control is carried out on the Fluid SIM virtual simulation platform. The simulation experimental result shows that the gripper can realize the connection of pipe joints according to the preset action.
引文
[1]李俊伟.自动对接技术在空调总装生产线上的应用[J].中国科技财富,2012,(8):165-166.LI Junwei.Application of Automatic Docking Technology in Air Conditioning Assembly Line[J].Fortune World,2012(8):165-166.
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[12]嵇海旭,梁秀娟.用顺序功能图实现机械手臂及货物传输带的控制[J].机械制造,2015,53(11):12-16.JI Haixu,LIANG Xiujuan.Using Sequential Function Charts to Control the Robot Arm and Cargo Conveyor[J].Machinery,2015,53(11):12-16.
[13]郭联金,王国胜.基于Fluid SIM软件的液压与气动教学模式研究[J].实验室科学,2014,17(1):4-7.GUO Lianjin,WANG Guosheng.Research on the Teaching Mode of Hydraulic and Pneumatic Based on Fluid SIM[J].Software Laboratory Science,2014,17(1):4-7.
[14]杨国平,谭月玲,张帅,等.Fluid SIM软件在《液压与气压传动》课程实践教学中的应用[J].液压气动与密封,2018,38(2):43-46.YANG Guoping,TAN Yueling,ZHANG Shuai,et al.The Application of Fluid SIM Software in Practice Teaching of Hydraulics and Pneumatics[J].Hydraulics Pneumatics&Seals,2018,38(2):
[2]张汉华,郭继舟,李少祥.快速接头对接装置:201620984652.8[P].2016-08-29.ZHANG Hanhua,GUO Jizhou,LI Shaoxiang.Docking Device of Quick Action Coupling:201620984652.8[P].2016-08-29.
[3]徐飞.气管与接头快速对接装置:201310089897.5[P].2013-03-20.XU Fei.Windpipe and Joint Quick Docking Device:201310089897.5[P].2013-03-20.
[4]汤志东,贠超.全自动快换装置快速接头技术综述[J].浙江大学学报(工学版),2017,51(3):461-470.TANG Zhidong,YUN Chao.Quick Action Coupling Technology in Full-automatic Quick Coupling Device:a Review[J].Journal of Zhejiang University(Engineering Science),2017,51(3):461-470.
[5]高新新,郭旭红,钟康民.气动机械复合传动双工位冲压机[J].机械设计与制造,2013,(10):134-135,138.GAO Xinxin,GUO Xuhong,ZHONG Kangmin.Pneumatic Mechanical Composite Transmission Double Location Punching Machine[J].Machinery Design&Manufacture,2013,(10):134-135,138.
[6]唐少琴.基于PLC的气动机械手控制系统设计[J].机械设计与制造工程,2016,45(5):51-53.TANG Shaoqin.Design of Control System of Pneumatic Manipulator Based on PLC[J].Machine Design and Manufacturing Engeering,2016,45(5):51-53.
[7]李文,冯毅,张金武.基于PLC控制的吸盘式气动机械手设计[J].液压气动与密封,2016,36(12):35-38.LI Wen,FENG Yi,ZHANG Jinwu.Design of Suction Cup Type Pneumatic Manipulator Based on PLC Control[J].Hydraulics Pneumatics&Seals,2016,36(12):35-38.
[8]张良,韩彦军,王艳莉.基于PLC的气动摆模机械手控制系统设计[J].液压与气动,2016,(11):92-97.ZHANG Liang,HAN Yanjun,WANG Yanli.Design of Pneumatic Deshuttering Manipulator Control System Based on PLC[J].Chinese Hydraulics&Pneumatics,2016,(11):92-97.
[9]徐成东.换向阀中位机能在液压回路中的合理应用[J].中国重型装备,2018,(1):9-11+14.XU Chengdong.Proper Use of Median Position Function of Reversing Valve in Hydraulic Circuit[J].China Heavy Equipment,2018,(1):9-11+14.
[10]刘志虎,王雷,王幼民,等.基于PLC的包装袋机械手控制系统设计[J].重庆理工大学学报(自然科学),2015,29(9):58-63.LIU Zhihu,WANG Lei,WANG Youmin,et al.Control System Design of Packaging Bag Manipulator Based on PLC[J].Journal of Chongqing University of Technology(Natural Science),2015,29(9):58-63.
[11]于群,孙方成,石宏.基于PLC的气动机械手控制系统设计[J].沈阳航空航天大学学报,2017,34(6):60-65.YU Qun,SUN Fangcheng,SHI Hong.Design of Pneumatic Manipulator Control System Based on PLC[J].Journal of Shenyang Aerospace University,2017,34(6):60-65.
[12]嵇海旭,梁秀娟.用顺序功能图实现机械手臂及货物传输带的控制[J].机械制造,2015,53(11):12-16.JI Haixu,LIANG Xiujuan.Using Sequential Function Charts to Control the Robot Arm and Cargo Conveyor[J].Machinery,2015,53(11):12-16.
[13]郭联金,王国胜.基于Fluid SIM软件的液压与气动教学模式研究[J].实验室科学,2014,17(1):4-7.GUO Lianjin,WANG Guosheng.Research on the Teaching Mode of Hydraulic and Pneumatic Based on Fluid SIM[J].Software Laboratory Science,2014,17(1):4-7.
[14]杨国平,谭月玲,张帅,等.Fluid SIM软件在《液压与气压传动》课程实践教学中的应用[J].液压气动与密封,2018,38(2):43-46.YANG Guoping,TAN Yueling,ZHANG Shuai,et al.The Application of Fluid SIM Software in Practice Teaching of Hydraulics and Pneumatics[J].Hydraulics Pneumatics&Seals,2018,38(2):