基于PLC采摘机器人机械手控制系统改进设计

随着农业生产规模的扩大,农业劳动力的需求也逐渐增大,传统手工采摘方式效率低、产能不足,且具有一定的危险性。为克服这一难题,改进农业生产方式,设计了一种基于PLC的采摘机器人机械手控制系统,通过建立机械手的动力学数学模型,基于控制系统的总体构架,分别对系统的硬件和软件进行设计。硬件设计主要包括PLC控制器、主控计算机、传感器模块、驱动模块和控制模块等5个部分,并完成了PLC程序设计及梯形图的编制。最后,通过实验验证了该机械手控制系统的安全性和稳定性,结果表明:系统可有效地完成采摘过程,且控制精度高,成本投入更低,大大提高了劳动生产效率,降低操作人员的安全风险,具有较大的推广价值。

Improved Design of Robot Control System for Picking Robot Based on PLC

With the expansion of agricultural production scale,the demand for agricultural labor gradually increases.The traditional hand-picking method has low efficiency,insufficient production capacity and certain risks.In order to overcome this problem,to improve the way of agricultural production,in this paper designed a kind of picking robot manipulator based on PLC control system,through the establishment of dynamic mathematical model of the manipulator,the overall framework for the design of the control system,respectively,of the system hardware and software design,hardware design mainly includes the PLC controller,main control computer,sensor module,drive module and control module and so on five parts,completed the PLC program design and ladder diagram,finally the manipulator control system is verified by experiment of security and stability,the results showed that:The system can effectively complete the picking process,and the control precision is high,the cost input is lower,greatly improve the labor production efficiency,reduce the safety risk of operators,and has a great promotion value.