【摘要】：為了提高斜坡式自動(dòng)化藥房中上藥機(jī)械手的上藥效率,保證上藥系統(tǒng)的穩(wěn)定性,研究了一種五自由度上藥機(jī)械手。對(duì)其機(jī)構(gòu)組成及工作原理做了論述,并對(duì)其基于PLC的軟、硬件控制系統(tǒng)做了詳細(xì)介紹。對(duì)旋轉(zhuǎn)式對(duì)稱雙上藥機(jī)構(gòu)進(jìn)行了重點(diǎn)說(shuō)明,通過(guò)齒輪嚙合實(shí)現(xiàn)儲(chǔ)藥槽的翻轉(zhuǎn),使得藥品利用重力原理滑入儲(chǔ)藥柜,通過(guò)監(jiān)控系統(tǒng)適時(shí)監(jiān)控上藥機(jī)械手的動(dòng)作狀況,采用RS485總線通訊方式傳輸數(shù)據(jù),根據(jù)動(dòng)作要求完成對(duì)機(jī)械手上藥動(dòng)作的控制。結(jié)果表明:在機(jī)電控制系統(tǒng)和軟件控制系統(tǒng)相互配合下,上藥機(jī)械手系統(tǒng)能夠?qū)崿F(xiàn)穩(wěn)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.
【作者單位】： 華北理工大學(xué)機(jī)械工程學(xué)院;
【分類號(hào)】：TP241
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本文編號(hào)：2432026