Transactions of Materials and Heat Treatment

Title：Control system design on automatic feeding manipulator in the multi-station press line

Authors： Wang Yannian Ding Heng

Unit： Xi′an Polytechnic University

KeyWords： multi-station press feeding manipulator PLC motion controller

ClassificationCode：TP241.1; TG305

year,vol(issue):pagenumber：2016,41(6):55-60

Abstract：

In order to improve the automation level of the multi-station press line, a 3D feeding manipulator control system based on PLC and motion controller was developed. The overall structure, workflow, servo system construction of the feeding manipulator were researched and analyzed. Then, the hardware structure, software function of PLC and motion controller for this control system were introduced in detail with a friendly human-machine interface designed by the touch screen method. The manipulator with X, Y, Z directions and eight servo axes moved together by ECAM in controlling the manipulator trajectory. According to the actual running situation, the ideal response characteristics were obtained by adjusting the servo gains repeatedly. The experimental result shows that the manipulator is not only easy to operate, but also runs steadily. When the feeding load is 120 kg, the transfer frequency can reach 25 times per minute, and the positioning accuracy is ±0.1 mm.

Funds：

作者简介：王延年（1963-），男，硕士，教授 E-mail：1090968352@qq.com 通讯作者：丁恒（1989-），女，硕士研究生 E-mail：dh92912@163.com

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