双工业机器人可移动底座协同控制研究

Research on Cooperative Control of Movable Base of Dual Industrial Robot

工业机器人广泛应用于自动上料、搬运等作业。工业机器人存在工作空间有限等特征,通过工业机器人第七轴驱动工业机器人底座移动扩展了工作空间。采用西门子可编程逻辑控制器(Programmable Logic Controller,PLC)变频器实现工业机器人底座沿着双轨槽钢在多个仓位间移动,研究双工业机器人可移动底座控制策略,实现多工位自动上料,满足生产需求,极大地提高效率。该系统在包装材料的铸膜塑料袋生产配方工艺调整及优化中有很好的应用价值。

Industrial robots are widely used in automatic feeding,handling and other operations.Industrial robot has the characteristics of limited workspace,and the workspace is expanded by the seventh axis of industrial robot to drive the base of industrial robot to move.In this paper,Siemens Programmable Logic Controller(PLC)is used to control the frequency converter to realize the movement of the industrial robot base between multiple positions along the double-track channel steel,and the control strategy of the movable base of the dual industrial robot is studied to realize multi-station automatic feeding,which meets the production demand and greatly improves the efficiency.This system has a good application value in the process adjustment and optimization of the production formula of cast-film plastic bags for packaging materials.