Case: sequential control of manipulator and conveyor belt in parallel

Today, we will explain a case of step sequence control, the manipulator control system. This system is not a simple single process structure with only manipulator action, but a structure of parallel execution of manipulator and conveyor belt. We call it parallel branch process structure. < / P > < p > 2. As long as there is a workpiece at point D, the manipulator will first descend, grab the workpiece and then rise, and then transport the workpiece above point e. the manipulator will descend again and release the workpiece, and the manipulator will rise and finally return to the origin. < / P > < p > 3, a, B and C cylinders are all single acting cylinders, and electromagnetic control is used. After the cylinder C grabs or releases the workpiece, it needs 1 second interval before the manipulator can move. < / P > < p > 4. When there is a workpiece at point E and cylinder B has risen to Ls4, the conveyor belt motor rotates to transport away the workpiece, and the conveyor belt motor stops automatically after 2 seconds. If the workpiece is not fully transported, it should wait for the conveyor belt motor to stop before moving the workpiece away. < / P > < p > 1. Origin reset: the origin of the manipulator is selected as the return of cylinder a to the right limit position, the rise of cylinder B to the upper limit position and the release of cylinder C. After performing an action, it is necessary to detect the origin reset. Yueshang group has become the third social e-commerce service platform listed in China after being gathered in pinduoduo

Author: zmhuaxia