基于工业机器人的洗车控制系统的硬件及软件设计

Hardware and Software Design of Car Washing Control System Based on Industrial Robot

为了克服人工方式清洗车辆效率低下,无法实现自动化管控的缺陷,在汽车清洗过程中引入了由工业机械臂构成的清洗机器人。以VKRC22005版KUKA工业机器人作为研究对象,实现对车辆外部轮廓的高效清洁。实验的控制系统包含了软件与硬件两个组成部分,其中,软件程序由上位机界面程序以及下位机处理程序构成,在硬件控制系统中包含了嵌入型微控制器、总线通讯模块与最小运行系统,此模块的通讯过程利用Profinet协议以及电机驱动器实现,利用111报文实现对电机运动速度与位置参数的控制,以此达到对清洗臂末端的精确定位,还能够实时接收报文数据并计算各轴的旋转角,最后显示在上位机中。系统设计对提高自动化车辆清洗效率具有一定的支持。

In order to overcome the low efficiency of manual cleaning of the vehicle and the inability of achieving automatic control,a cleaning robot composed of an industrial robot arm is introduced in the process of automobile cleaning.The VKRC22005 version of KUKA industrial robot is taken as the research object to achieve efficient cleaning of the external contour of vehicles.This experiment of the control system includes two components of hardware and software.The software program consists of the upper machine and lower machine handler composition,and the hardware control system includes embedded microcontrollers,the bus communication module and minimum operation system,the module of communication process uses Profinet protocol and motor drive.By using 111 message control of motor speed and position parameters,the cleaning arm at the ends can achieve the positioning precision,also can receive real-time message data and calculate the axis of rotation angle.Finally,they are displayed in the upper machine.This system design has certain support to improve the efficiency of automatic vehicle cleaning.