S7-200 series PLC of SIEMENS is selected as the automatic Filling machine. Because it needs to output high-speed pulse drive servo motor, PLC adopts transistor output type. Select S7-200-226 DC/DC/DC type PLC. Servo driver adopts Panasonic MADDT1207003 full digital AC permanent magnet synchronous servo drive device. The grasping manipulator device is installed on the sliding slide of the linear motion transmission assembly, driven by the transmission assembly, the whole linear reciprocating movement is fixed to the material table of other working units, and then the function of grasping and putting down the filling barrel is completed. The rotor inside the servo motor is a permanent magnet, and the U/V/W three-phase electricity controlled by the driver forms an electromagnetic field, and the rotor rotates under the action of this magnetic field, while the encoder of the motor comes with a feedback signal to the driver, and the driver adjusts the rotation Angle of the rotor according to the feedback value and the target value. The accuracy of the servo motor is determined by the number of lines in the encoder.

The main function of the metering filling machine is to fill the liquid medium into the packaging container to achieve filling, sealing, weighing, stacking and other functions. Using sequence control, motion control, communication, data management microprocessor technology and communication technology, filter, judge and store the input signal, transmit the output signal in the form of the Filling system to the executive mechanism to complete the filling command, real-time control of the bucket position in the online container, use pressure control to prepressure the filling barrel, adjust the speed of the conveying chain. When the container on the conveyor chain is blocked, it is also necessary to coordinate the feed speed of each drag point of the entire production line. The coordination signal is dragged to other conveyor chains in the production line, and the control system also carries out real-time detection and control on the place of empty/full drums, stacking, capping, opening/closing the filling valve, etc. The PLC signal drives the motor and other transmission mechanisms to drive the manipulator to move, and at the same time drives the encoder with the motor to feedback the number of abusive pulses to the driver. The driver compares the two kinds of pulses and determines the deviation, and the correction signal obtained after calculating according to certain control laws is used as the given speed controller in the servo driver and then is adjusted by current and amplified by power. Make the grasping manipulator move in the direction of eliminating the deviation, so as to realize the stacking positioning of the manipulator.