五自由度上药机械手的研究
发布时间：2019-02-28 17:59
【摘要】：为了提高斜坡式自动化药房中上药机械手的上药效率,保证上药系统的稳定性,研究了一种五自由度上药机械手。对其机构组成及工作原理做了论述,并对其基于PLC的软、硬件控制系统做了详细介绍。对旋转式对称双上药机构进行了重点说明,通过齿轮啮合实现储药槽的翻转,使得药品利用重力原理滑入储药柜,通过监控系统适时监控上药机械手的动作状况,采用RS485总线通讯方式传输数据,根据动作要求完成对机械手上药动作的控制。结果表明:在机电控制系统和软件控制系统相互配合下,上药机械手系统能够实现稳定、高效地工作。
[Abstract]:In order to improve the efficiency of dosing manipulator in slope automatic pharmacy and ensure the stability of dosing system, a five-degree-of-freedom dosing manipulator was studied. The structure and working principle of the system are discussed, and the software and hardware control system based on PLC is introduced in detail. The rotary symmetric double dosing mechanism is described in detail, which realizes the reversal of the medicine storage trough by gear meshing, makes the medicine slide into the medicine storage cabinet by gravity principle, and monitors the movement status of the drug loading manipulator timely through the monitoring system. RS485 bus communication mode is used to transmit data, according to the action requirements to complete the control of the manipulator action. The results show that under the cooperation of electromechanical control system and software control system, the manipulator system can work stably and efficiently.
【作者单位】： 华北理工大学机械工程学院;
【分类号】：TP241
，
本文编号：2432026
[Abstract]:In order to improve the efficiency of dosing manipulator in slope automatic pharmacy and ensure the stability of dosing system, a five-degree-of-freedom dosing manipulator was studied. The structure and working principle of the system are discussed, and the software and hardware control system based on PLC is introduced in detail. The rotary symmetric double dosing mechanism is described in detail, which realizes the reversal of the medicine storage trough by gear meshing, makes the medicine slide into the medicine storage cabinet by gravity principle, and monitors the movement status of the drug loading manipulator timely through the monitoring system. RS485 bus communication mode is used to transmit data, according to the action requirements to complete the control of the manipulator action. The results show that under the cooperation of electromechanical control system and software control system, the manipulator system can work stably and efficiently.
【作者单位】： 华北理工大学机械工程学院;
【分类号】：TP241
，
本文编号：2432026
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