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China is a large agricultural country , faces saved in the production of agricultural products , transport problems . Corrugated box its with light weight , resistance to stress , low- cost , has been widely used in environmental protection and many other advantages . Corrugated manufacturing industry is a labor - intensive industry , most of the process is the the boring repetitive movements and need to be done manually . PVA adhesives , also used in the production of high temperature caused by a hidden personal safety of the workers . Will be based on the mechanical arm of the robot technology is introduced into the corrugated manufacturing , can greatly replace artificial conducive to shift to capital -intensive ; mechanical the arm engaged boring repetitive motion , effectively reduce the defect rate ; instead of manual contact PVA adhesives to protect the safety of workers . This paper first introduces the hardware design of the mechanical arm , the principle of selection of electrical equipment : ( 1 ) low price ; (2) full-featured ; (3) is stable . The actual work needs to finalize the stepper motor , stepper motor drive , speed reducer and photoelectric shaft encoder models of electrical components . OMRON Corporation manufacturing the PLC: CP1H X40DT-D controller ; the CP1H software editing program to realize the control of large machinery , forearm Yungong . In the actual control, in order to solve the problem of large mechanical and arm movement coherent proposed divided stepper motor rotation interval concept . Study are discussed for 200,300,400,500,600,700,800,1000 (the value of the angle of rotation of the stepper motor shaft units : degrees ) when the movement of the mechanical arm , using MATLAB software, the graph velocity curve , combined with the calculation of the theoretical formulas obtained optimal choice range 400 . Summed select the optimal interval principle : whether more than theoretical range ; meet (a ) conditions , mechanical arm , respectively, to the standard fixed-point minimum interval value minimum . Discussed in the last article , the actual installation and commissioning encountered some unexpected event and its processing approach . Have certain guiding significance for future study and work .
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