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自动扒渣机械手控制系统研究
The Study on the Control System of Auto Blowing Slag Robot Device
【作者】 杨华；
【作者基本信息】 华中科技大学 ， 机械电子工程， 2008， 硕士
【摘要】 随着科技水平的提高,冶金行业不断进行自动化改造和结构升级。国内冶金行业的大部分企业工人的工作环境恶劣且效率低下,因而机器人自动化应运而生。本课题研究运用机器人技术解决铝液浇铸生产线中铝液废渣自动清除的问题。本文主要对基于“PLC(可编程逻辑控制器)+变频器+交流异步电机”的控制系统进行了研究。文中首先对铝液浇铸机械手的组成、应用状况以及发展趋势进行了论述。然后对铝液浇铸机生产线的基本概况进行了介绍,通过对自动扒渣机械手控制流程的分析明确了自动扒渣机械手的功能需求和动作流程,提出了自动扒渣机械手的结构方案。运用AUTO CAD和CATIA设计软件,完成自动扒渣机械手的零部件设计和自动扒渣机械手的三维模型建立。为降低成本,机械手控制系统采用以西门子公司S7-200 PLC为主控制器,普通交流异步电机与变频器作为执行单元的控制方案。最后完成了PLC的硬件接线和运动控制程序的开发与调试。目前,该自动扒渣机械手已经在铝铸件生产企业应用运行。使用结果表明,本文采用的“PLC+变频器+交流异步电机”控制系统方案能满足铝液废渣自动清除要求,并具有可靠性好、成本低的特点。
【Abstract】 With the development of economy and technology, the enterprises of metallurgical industry transfer and upgrade their structure of automation continuously. Currently, most of the domestic metallurgical industry workers are in enterprises poor working environment and efficiency is low. As a result, robot automation came into being. Use of robot technology, we solve the problem that is how to auto blow slag in the casting of aluminum production line.In the paper, the control system based on "PLC(programmable logical control) + frequency conversion device + AC Asynchronous motor " was studied. In the first, the situation and development trend of aluminum casting manipulator the composition were introduced. Then the casting of aluminum production line and the basic profiles were introduced, through the analysis of the basic profile of the aluminum casting of automatic production lines, we know that the functional requirements and action processes. The AUTO CAD and 3-D CATIA design software were used to complete the parts of the auto blowing slag robot device design. The control system of the auto blowing slag robot device uses a Siemens S7-200 PLC as controller, including the frequency conversion device, Fujitsu FRN1.5C1S-4C1. Finally, to know the control flow analysis of the auto-blow slag robot device, we completed the PLC hardware and the hardware wiring.At present, the auto blowing slag device has been in normally trouble-free operation in the relevant aluminum casting manufacturing enterprises. The Control System based on "PLC + frequency conversion device + AC Asynchronous motor" is low-cost, high-performance, reliability.