摘要
为完成箱式物品的装车任务,采用自主研发的关节式机器人与移动导轨配合的方式,设计了一种基于OtoStudio开放式控制平台和PLC的机器人码垛装车控制系统。该系统采用层次化架构和模块化设计方法,实现车辆位姿测量、装车规划及机器人本体的运动控制。在移动导轨上设置有多个机器人装车工位,对应不同装车区域,PLC控制导轨及物料输送线与机器人配合实现分段装车,PLC与Otostudio之间通过Modbus总线进行通信。这种控制方式扩展了机器人的运动能力,使得系统工作区间覆盖整个装车区域,固定工位分段装车有效避免了机器人频繁移动搬运,提高了装车效率。
In order to complete the loading task of box goods,a palletizing and loading control system for robot based on OtoStudio open control platform and PLC was designed by means of an independently developed joint robot in conjunction with a moving guide rail.In the system,the method of hierarchical structure and modular design was adopted to realize vehicle position and posture measurement,loading planning and motion control of the robot body.A number of robot loading stations were set up on the mobile guide rail,corresponding to different loading areas.PLC was used to control the guide rail and the material conveying line to cooperate with the robot to realize piecework loading,and the communication between PLC and OtoStudio was carried out through Modbus protocol.By using the control method,the movement ability of the robot is expanded,so that the whole loading area is covered by the working area of the system.By means of the method of fixed-station segmental loading,it can effectively avoid the robot being moved frequently and improve the loading efficiency.
作者
张艳芳
李倩
吴昊
闫九祥
王亚丽
ZHANG Yanfang;LI Qian;WU Hao;YAN Jiuxiang;WANG Yali(Institute of Automation,Qilu University of Technology(Shandong Academy of Sciences),Shandong Provincial Key Laboratory of Automotive Electronics Technology,Jinan Shandong 250014,China)
出处
《机床与液压》
北大核心
2020年第17期1-4,15,共5页
Machine Tool & Hydraulics
基金
山东省重点研发计划项目(2019GGX104020)
山东省科学院院地基金项目(2018CXY-9)
山东省重大科技创新工程项目(2019JZZY010434)。
