木地板码垛机器人真空吸附控制系统设计

Design of Vacuum Adsorption Control System for Wood Stacking Robot

针对木地板加工流水线的码垛要求,设计一种使用红外测距传感器控制吸盘使用数量的控制系统.根据不同型号木地板在载物台上堆放宽度的不同,设计末端处理器上吸盘的内径、布局;实验选择红外测距传感器作为测距模块,测得传感器在不同距离处的输出电压.采用最小二乘法,利用Matlab对实验数据进行拟合,得出一个7次多项式的距离测量多项式,以提高测量精度;使用GX Works 2编辑7次拟合多项式,对红外测距传感器传入PLC的模拟电压进行计算,使得计算结果误差低于1 mm;结合末端处理器吸盘的布置,设计控制程序.仿真结果表明,该系统结构简单、测量精度高,能够根据木地板堆放的宽度控制末端处理器吸盘的使用数量,大幅降低压缩空气的浪费.

According to the palletizing requirements of wood floor processing line,a control system using infrared distance sensor to control the number of suckers used is designed.The inner diameter and layout of suction cups on the end processor are designed according to the different stacking width of wood floors with different widths and qualities on the stage;The infrared distance sensor is selected as the ranging module,and the output voltage of the sensor at different distances is measured in the experiment.The experimental data are fitted with the least square method using Matlab,and a distance measurement polynomial of 7th degree polynomial is obtained to improve the measurement accuracy.Then using GX Works 2 to edit 7th degree polynomial to calculate the analog voltage from the infrared distance sensor to the PLC,so that the error of the calculation result is less than 1mm.The distance control program is designed according to the arrangement of the suction cups of the end processor.The simulation results show that the system is simple in structure,high in measurement accuracy,and can control the number of suction cups used in the end processor according to the area of boards stacked,greatly reducing the waste of compressed air.