| With the increment in market demanding and the introduction of automated production equipment,the traditional manpower-based loading method of bagged materials cannot meet the technological requirements of modern enterprises.And with the intensification of China’s population aging,the labor cost of enterprises continues to increase.How to reduce costs and improve production efficiency are becoming the primary issue for the development of domestic enterprises.Based on the above-mentioned national conditions,the development of a stable and reliable automated loading system is of great significance for promoting technological progress and improving economic efficiency of enterprises.According to the "automatic loading robot equipment" project entrusted by the enterprise,in response to the needs of the enterprise and in combination with the current technical status,a feeding robot control system for feeding bagged materials with CoDeSys platform was developed.According to the designing requirements of the loading robot by the enterprise,on the premise of retaining the original material transportation equipment,the design scheme of the feeding bagged material loading robot is proposed:the loading package of the loading robot is connected to the enterprise’s packaging through the loading robot.Machines and destackers provide a stable source of materials for loading robots.By analysing comprehensivly of the advantages and disadvantages of the different structure forms of the robot,and considering the working characteristics of the loading robot,the cartesian coordinates form is adoptedby the robot structure design scheme.The driving and transmission modes of each axis of the robot is selected,and the selection and verification of the motor are completed.In order to meet the stable and efficient loading requirements required by the enterprise,the feeding system of the loading robot is designed.According to the different feeding forms,there are two primary options,one is the horizontal feeding system,another is a slope type feeding system.Firstly,the structural composition of the two feeding systems are given.Then the working principle of the two feeding systems is analyzed using the flowchart.And finally the modal analysis module under presress in ANSYS is used to analyze the working process of the two feeding systems impacted on the gantry mechanism,After integrating the loading efficiency,structural stability and electrical factors,the slope type feeding system is chosen as the material supply mechanism of the loading robot.According to the characteristics that the distribution distance between the various devices of the automatic loading line is relatively long and the number of motion axes is large,the distributed motion control scheme based on the soft PLC+EtherMAC bus is selected.The PC-based CoDeSys soft motion controller is used to control each motion axis through the EtherMAC industrial Ethernet communication protocol.Corresponding protective measures are proposed for the source of system interference,and the system power supply,each driving device and the electrical circuit of the I/O module are designed.The software structure of the control system is studied in detail,the software system is planned as different task modules runningon PLC,The priority of the task modules is assigned according to the characteristics of each task module,and the functional modules are designed in detail.The motion control modules are implemented based on the CoDeSys SoftMotion module,which include automatic operation module,manual operation module,I/O module,communication module,limit module and so on.The design of the control system of the loading robot was tested inenterprise,and the control system and mechanical structure were optimized during the field test,The feeding robot control system of the bagged material loading robot based on the CoDeSys software can run stably in production line.The completion of the loading robot is of great significance for promoting the technological progress of domestic related enterprises and the upgrading and transformation of the enterprise’s logistics system. |
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