视觉机器人自动加球的分布式计算机控制系统

Distributed Computer Control System for Automatic Ball Loading with Vision Robot

为克服传统球磨机自动加球系统磨球堵塞或卡住的问题,设计了视觉机器人自动加球系统,由磨球补充系统、磨球识别系统、磨球抓取系统、磨球输送系统等组成。为确保按现场工艺需求实现自动加球,基于以太网设计了可以进行数据传送的分布式计算机控制系统,由可编程序控制器和工控机组成。运行实践表明,分布式计算机控制系统的控制功能完全满足生产工艺对视觉机器人自动加球的要求,运行稳定可靠。

In order to overcome the problem of ball blockage or stuck in the traditional automatic ball loading system of ball mill,an automatic ball loading system with vision robot was designed,which consists of ball supplementation system,ball recognition system,ball grasping system and ball conveying system.A distributed computer control system was designed based on Ethernet,which is composed of PLC and industrial personal computer,to ensure the realization of automatic ball loading according to the field process requirement.The operation practice shows that the control function of the distributed computer control system fully meets the requirement of production process for the automatic ball loading with vision robot,and the operation is stable and reliable.