一种新型混联码垛机器人控制系统的研究

Study on Control System of A New Type of Hybrid Palletizing Robot

介绍了一种新型混联码垛机器人的控制系统,阐述了其控制流程、软硬件选型和设计、人机交互界面等。系统并联部分采用三台电动缸作为执行机构,主轴和动平台转轴采用两台电机加减速器组合。控制方法为"工业控制机+运动控制器"模式,运动控制器采用STM32F4系列单片机作为主芯片。样机的运行表明:本系统安全可靠,成本较低,具有良好的市场应用前景。

This paper introduces the control system of a new type of hybrid palletizing robot, mainly expounds the control flow, the selection and design of hardware and software, the man-machine interface, etc.. In the parallel part of the system, three electric cylinders are used as the executing mechanism, and the main shaft and the ro- tating shaft of the moving platform are composed of two motor and speed reducers. With the control method being ＂industrial personal computer ＋ motion controller＂ mode, the motion controller uses STM32F4 Series MCU as the main chip. The operation shows that the system is safe, reliable, low cost, and has good market prospects.