【作者】 张岳；

【导师】 张承瑞；

【作者基本信息】 山东大学 ， 机械电子工程， 2013， 硕士

【摘要】 码垛机械手作为现代码垛系统中最重要的设备,对促进工业自动化起到非常重要的作用。近年来,国内许多高校和企业均对码垛机械手控制系统进行了研究和开发,但我国码垛机械手控制系统与国外相比还有很大的差距。因此,研发具有自主产权的高水平码垛机械手控制系统具有重要的意义。基于工业实时以太网总线技术,本论文设计了一种适用于多种类型码垛机械手控制系统开发的码垛机械手控制平台。首先,本论文从码垛机械手的工作过程出发,对码垛机械手所需运动进行了分析,并对常用的混联码垛机械手结构和串联码垛机械手结构进行了分析。根据码垛机械手工作过程中的运动规律,对机械手末端类似门字形的运动轨迹进行规划,使用S曲线加减速控制方法和码垛机械手运动学正逆解对运动轨迹中各个运动轴的运动过程进行插补计算。在轨迹规划过程中,使用s曲线加减速控制方法,实现水平运动、底座旋转、手爪旋转三个运动的同步协调运行。其次,本课题对码垛机械手控制平台进行研究。控制系统硬件平台采用基于Ether MAC (Ethernet for Manufacture Automation Control)实时以太网总线技术的e-Link接口板和IO接口板,接口板与工控机以及各接口板之间均通过屏蔽双绞线进行级联。码垛机械手控制系统软件采用模块化的设计理念,将控制软件分为运动控制模块、数据通信模块、人机交互模块等。其中,数据通信模块中包含总线通信模块,可实现控制系统软件与硬件平台之间的通信。对于不同类型的码垛机械手机械结构,只需要调用相对应的软件功能模块即可快速、准确的开发出适用于用户需求的码垛机械手控制系统。最后,在基于实时以太网的码垛机械手控制平台上,开发设计了一种满足用户需求的码垛机械手控制系统,并应用于生产现场。试验表明,该码垛机械手控制系统能够实现所需的功能,工作情况稳定、流畅,达到了工业自动化的需求。更多还原

【Abstract】 As the most important equipment for modern stacking system, palletizing robots make important effectiveness for industrial automation. In recent years, a number of universities and companies have paid a great deal of attention to the research and development of palletizing robot. But there is still a large gap between home and abroad in the overall development and application levels of robot controllers. Therefore, the independent research and development of the palletizing robot controller is of great significance for China’s development. Based on the real-time industrial Ethernet fieldbus, this paper designs one palletizing robot control platform which uses to develop palletizing robot control systems.First of all, the desired movement of the palletizing robot is analyzed from the working process. Then the structures of a kind of mixed-connection palletizing robot and series palletizing robot are analyzed, too. The similar door-shaped trajectory of the end of the palletizing robot is planned according to the regular pattern of motion in the palletizing robot working process. Using the S-curve acceleration and deceleration control method and robot forward and inverse kinematics, the interpolation calculation is done for the movement trajectory of all axes. Using the S-curve acceleration and deceleration control method in trajectory planning process, it achieves that the synchronized running of horizontal movement, base rotation and gripper rotation.Secondly, the paper does some research of palletizing robot control platform. The control system hardware platform adopts e-Link interface card and IO interface card which are based on the real-time Ethernet fieldbus EtherMAC (Ethernet for Manufacture Automation Control). Connections between e-Link interface card, IO interface card and Industrial PC is through shielded twisted pair. The palletizing robot control system software using a modular design concept. The control software is divided into motion control module, data communication module, human-computer interaction module, etc. Wherein the data communications module includes a fieldbus communication module, can be realized to control the communication between the system software and hardware platform. For different types of palletizing robot mechanical structure, only need to call the corresponding software function modules can be quickly and accurately develop palletizing robot control system applicable to the user needs.Finally, a palletizing robot control system to meet user needs is designed on the basis of the palletizing robot control platform which is based on the real-time Ethernet fieldbus, and a palletizing robot control system is used to the production line. The tests showed that the palletizing robot control system can achieve the desired functionality, work in a stable and smooth condition, and reach the needs of industrial automation.更多还原