一种码垛机器人的电气控制系统设计

Design on the Electrical Control System of the Palletizing Robot

为进一步改善用于农产品成箱搬运、码垛的码垛机器人自动化作业效率,提升自动码垛的作业效果,融合先进成熟的电气控制技术,针对码垛机器人的电气控制系统展开设计研究。在当前码垛机器人作业原理的基础上,基于PID调控原理,结合各关节臂的结构特性与运动插补函数,建立了用于码垛机器人电气系统设计的理论模型,通过软件控制与硬件选型形成完整可行的电气控制系统,并进行码垛作业试验。试验结果表明:与具有普通电气控制系统的码垛机器人相比,该电气控制系统稳定性好,应用到码垛机器人后,其码垛准确率与各关节臂的避障成功率均可提升至90%以上,码垛综合效率得到明显提升。

In order to further improve the automatic operation efficiency of palletizing robot for agricultural products box handling and palletizing,and improve the operation effect of automatic palletizing machine,the electrical control system of palletizing robot was designed and researched by integrating advanced and mature electrical control technology.On the basis of the current working principle of palletizing robot,and combined with the structural characteristics of each joint arm and motion interpolation function,the core theoretical model for the electrical system design of the palletizing robot was established based on PID control principle.A complete and feasible electrical control system was formed through software control and hardware selection,and then the palletizing operation test was carried,the results showed that compared with the palletizing robot with ordinary electrical control system,the electrical control system has good stability.After being applied to the palletizing robot,its palletizing accuracy and the success rate of obstacle avoidance of each joint arm could be increased to more than 90%,and the comprehensive efficiency of palletizing had been significantly improved.The designs meet the needs of palletizing agricultural products in boxes,also would promote China’s agricultural products to the level of intelligent and efficient management,and would be good promotion significance.