基于PLC的船体表面清理载体机器人的控制系统的设计
首发时间:2019-05-31
摘要:对于综述针对船体表面清理机器人的控制要求,研发了一种基于可编程逻辑控制器控制的载体机器人控制系统。它采用1个台达可编程逻辑控制器控制,应用液压马达、增量式光电编码器、A/D模块、比例放大器、电磁继电器和人机界面等工控技术,解决了船体表面清理机器人的前后直行、左右转弯和清刷盘旋转等要求。描述了载体机器人的工作流程、控制要求、和控制系统软硬件设计。实践证明,该控制系统能够提高载体机器人的前后直行动作的精度、保证清理效果的达标程度、减轻工人的劳动强度,具有广泛的应用价值。
关键词: 机械设计 机器人 可编程逻辑控制器 编码器 控制系统
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Design of Control System of Carrier Robot for Hull Surface Cleaning Based on PLC
Abstract:Aiming at the control requirements of hull surface cleaning robot, a control system of Carrier Robot Based on programmable logic controller is developed. It uses a Delta programmable logic controller to control, and uses industrial control technologies such as hydraulic motor, incremental photoelectric encoder, A/D module, proportional amplifier, electromagnetic relay and human-machine interface to solve the requirements of the hull surface cleaning robot, such as forward and backward straight line, left and right turn and brush wheel rotation. The workflow, control requirements and hardware and software design of the control system of the carrier robot are described. Practice has proved that the control system can improve the accuracy of the forward and backward direct action of the carrier robot, ensure the cleaning effect to meet the standards, and reduce the labor intensity of the workers. It has wide application value.
Keywords: Mechanical Design Robot Programmable Logic Controller Encoder Control System
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