| Along with industrial automation technology mature gradually,palletizing robot is applied in pharmaceutical,packaging,cement handing,wine making and many other fields.In recent years,due to the rapid changing of the market environment,it has been more than satisfied with the palletizing robot simply replaced manual labor but in low cost,high efficiency,high precision and put forward more expectations.Therefore,study on palletizing robot control system has important significance in improving the palletizing robot design level of our country and promoting it into the market more widely.This paper firstly analysis the movement of palletizing robot and get the kinematic relationship between the robot actuators and driving mechanism.Put forward the optimization scheme of robot arm connecting rod and according to which calculate the palletizing robot workspace by graphic method.Secondly,In order to improve the work efficiency and reduce the vibration of the machine hand claw, proposes two feasible trajectory planning scheme,namely "4-3-4" three sections of locus method combined with five times polynomial interpolation and trajectory planning method based on cubic spline curve.Refer to the specific parameters of the subject,obtained the equation of trajectory of the robot actuator calculation and simulated them respectively by MATLAB.Finally,the specific control scheme of the palletizing robot are designed and according to the demand of actual work selected robot control system controller,servo system,industrial touch screen,sensor and other hardware devices.Draw the controller wiring diagram,servo motor wiring diagram and communication interface wiring diagram.Designed the structure diagram of control system software and according to the principle of modular design,completed the design of palletizing robot PLC procedures and HMI. |
PDF Full Text Request