冶金企业工业机器人高精度自动避障技术设计

Design of High Precision Automatic Obstacle Avoidance Technology for Industrial Robot in Metallurgical Enterprises

由于传统的冶金企业在进行冶金运行过程中,所排出的大量废渣,工业机器人不能及时的对废渣进行清理,且自动化控制系统鲁棒值较低,在实际冶金应用中经常出现死机、停运现象,可靠性较低,为此提出冶金企业工业机器人高精度自动避障技术。在系统硬件方面设计了触摸屏、变频驱动器、伺服控制器,通过触摸屏发出控制指令,利用变频驱动器和伺服控制器完成操作指令,保证整个工业机器人的运行系统协调性;在系统软件方面,应用三级通讯模式实现系统各个单元之间的数据传输,并在此基础上引入PID算法,根据工业机器人运行状态,执行控制程序,以此实现冶金工业机器人高精度避障技术设计。经实验证明,此次设计系统鲁棒值高于传统系统,具有较高的可靠性。

Due to the large amount of waste residue discharged by traditional metallurgical enterprises during metallurgical operation,industrial robots can not clean up the waste residue in time,and the robust value of automatic control system is low.In the hardware aspect of the system,the touch screen,the frequency conversion driver and the servo controller are designed,the control instruction is issued through the touch screen,and the operation instruction is completed by using the frequency conversion driver and the servo controller to ensure the coordination of the operation system of the whole industrial robot.In the system software aspect,the three-level communication is applied Based on the PID algorithm,the control program is executed according to the running state of the industrial robot,so as to realize the high precision obstacle avoidance technology design of the metallurgical industrial robot.Experiments show that the robust value of the design system is higher than that of the traditional system and has high reliability.