基于模块化示教的精密码垛机器人控制系统
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摘要
目的为了实现码垛机器人的实时快速控制,设计一种模块化示教的码垛机器人控制系统。方法以1802芯片为核心开发嵌入式模块示教系统,以QT为工具开发上位机模块示教系统,使用示教系统可以快速设定码垛机器人的路线和精度,通过wifi或串口模块把示教信号传输到码垛机器人控制系统中,控制系统利用高速脉冲驱动电路和闭环控制定位程序,使码垛机器人按照示教信息快速精准地搬运货物,点对点搬运实验表明,系统定位精度可以达到0.3 mm,旋转误差在0.1°内。结果机器人水平定位的最大相对误差为0.45%,旋转角度的最大误差为0.83%。结论实验证明,码垛机器人控制系统可以根据用户需求快速完成搬运。
The work aims to design a modular teaching palletizing robot control system in order to realize real-time and fast control of palletizing robot. The teaching system of embedded module was developed with 1802 chip as the core. The upper computer modular teaching system was developed with QT tool and used to fast set the route and accuracy of palletizing robot. The teaching signal was transmitted to the control system of the palletizing robot by wifi or serial module. Utilizing high-speed pulse drive circuit and closed-loop control locating program, the control system ordered the robot to handle cargos in fast and precise means according to instructions. The point to point carrying experiment showed that the positioning precision of the system could reach 0.3 mm and the rotation error within 0.1 degrees. The maximum relative error for horizontal positioning of robot was 0.45% and the maximum error for rotation angle was 0.83%. The experiment proves that the system can meet the need of transportation quickly according to the user's setting.
The work aims to design a modular teaching palletizing robot control system in order to realize real-time and fast control of palletizing robot. The teaching system of embedded module was developed with 1802 chip as the core. The upper computer modular teaching system was developed with QT tool and used to fast set the route and accuracy of palletizing robot. The teaching signal was transmitted to the control system of the palletizing robot by wifi or serial module. Utilizing high-speed pulse drive circuit and closed-loop control locating program, the control system ordered the robot to handle cargos in fast and precise means according to instructions. The point to point carrying experiment showed that the positioning precision of the system could reach 0.3 mm and the rotation error within 0.1 degrees. The maximum relative error for horizontal positioning of robot was 0.45% and the maximum error for rotation angle was 0.83%. The experiment proves that the system can meet the need of transportation quickly according to the user's setting.
引文
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[13]张志强,臧冀原,贠超.混联码垛机器人运动学分析及仿真[J].机械设计,2010,27(11):47-51.ZHANG Zhi-qiang,ZANG Ji-yuan,YUN Chao.Hybrid Stacking Robot Kinematics Analysis and Simulation[J].Machine Design,2010,27(11):47-51.
[14]刘清,韩宝玲,罗庆生,等.S7-200可编程控制器在新型智能码垛机器人中的应用研究[J].制造业自动化,2008(7):39-43.LIU Qing,HAN Bao-ling,LUO Qing-sheng,et al.S7-200 Programmable Logic Controller in the New Intelligent Palletizing Robot[J].Manufacturing Automation,2008(7):39-43.
[15]付铁,李金泉,陈恳,等.一种新型高速码垛机械手的设计与实现[J].北京理工大学学报,2007(1):17-20.FU Tie,LI Jin-quan,CHEN Ke,et al.Design and Implementation of a New High-speed Palletizing Manipulator[J].Journal of Beijing Institute of Technology,2007(1):17-20.
[16]张超群,邓喜君,蔡鹤皋.基于PLC的橡胶包装码垛生产线控制系统设计[J].高技术通讯,1997(8):14-18.ZHANG Chao-qun,DENG Xi-jun,CAI He-gao.Control System Design of Rubber Packing Palletizing Production Line Based on PLC[J].High Tech News Letter,1997(8):14-18.
[2]张丰华,韩宝玲,罗庆生,等.基于PLC的新型工业码垛机器人控制系统设计[J].计算机测量与控制,2009,17(11):2191-2193.ZHANG Feng-hua,HAN Bao-ling,LUO Qing-sheng,et al.The Design of a New Industrial Palletizing Robot Control System Based on PLC[J].Computer Measurement and Control,2009,17(11):2191-2193.
[3]康瑞芳,刘鑫.包装码垛机器人嵌入式控制系统设计[J].包装工程,2018,39(1):132-135.KANG Rui-fang,LIU Xin.Packaging Palletizing Robot Embedded Control System Design[J].Packaging Engineering,2018,39(1):132-135.
[4]张鑫龙,原思聪.码垛机器人位置精度测试与分析[J].机床与液压,2017,45(3):73-77.ZHANG Xin-long,YUAN Si-cong.The Original Thinking.Test and Analysis of Position Accuracy of Robot Palletizing Machine and Hydraulic[J].2017,45(3):73-77.
[5]王海芳,张恒,皇甫一樊,等.码垛机器人运动精度可靠性及其灵敏度分析[J].中国工程机械学报,2016,14(6):475-480.WANG Hai-fang,ZHANG Heng,HUANGFU Yi-fan,et al.Motion Accuracy Reliability and Sensitivity Analysis of Palletizing Robot[J].Chinese Journal of Engineering and Mechanics,2016,14(6):475-480.
[6]陈昌禄,邵生俊,王桃桃.砂土的动态空间滑动面及其强度准则适应性研究[J].地震工程学报,2014,36(4):980-986.CHEN Chang-lu,SHAO Sheng-jun,WANG Tao-tao.Adaptability of Dynamic Spatial Slip Surface and Strength Criterion of Sand[J].Journal of Earthquake Engineering,2014,36(4):980-986.
[7]窦新宇,梁华庆.丛式井电磁防碰信号采集系统设计[J].仪表技术与传感器,2018(2):109-112.DOU Xin-yu,LIANG Hua-qing.The Electromagnetic Collision Avoidance Signal Acquisition System of Cluster Well is Designed[J].Instrument Technology and Sensor,2018(2):109-112.
[8]李坤全,邵凤翔.全自动包装码垛机器人控制系统设计[J].机械设计与制造,2017(4):259-262.LI Kun-quan,SHAO Feng-xiang.Automatic Packaging Palletizing Robot Control System Design[J].Mechanical Design and Manufacturing,2017(4):259-262.
[9]贺莹,梅江平,方志炜,等.一种高速重载码垛机器人机座的多目标优化设计[J].机械设计,2017,34(7):1-9.HE Ying,MEI Jiang-ping,FANG Zhi-wei,et al.AMulti-objective Optimization Design of a High-speed and Heavy-duty Palletizing Robot Seat[J].Mechanical Design,2017,34(7):1-9.
[10]王世敏.基于PLC的全自动饲料码垛机器人的设计及应用研究[J].饲料工业,2015,36(7):8-11.WANG Shi-min.Design and Application of PLC Based Automatic Feed Palletizing Robot[J].Feed Industry,2015,36(7):8-11.
[11]郭瑞峰,李岩鹤,史世怀.关节型码垛机器人轨迹规划及运动学研究[J].机械设计与制造,2017(1):76-78.GUO Rui-feng,LI Yan-he,SHI Shi-hua.Trajectory Planning and Kinematics Research of Articulated Palletizing Robot[J].Mechanical Design and Manufacturing,2017(1):76-78.
[12]张良安,马寅东,单家正,等.4自由度含局部闭链式码垛机器人动力学优化设计[J].农业机械学报,2013,44(11):336-341.ZHANG Liang-an,MA Yin-dong,SHAN Jia-zheng,et al.Dynamic Optimization Design of 4 Degree of Freedom with Local Closed Chain Palletizing Robot[J].Journal of Agricultural Machinery,2013,44(11):336-341.
[13]张志强,臧冀原,贠超.混联码垛机器人运动学分析及仿真[J].机械设计,2010,27(11):47-51.ZHANG Zhi-qiang,ZANG Ji-yuan,YUN Chao.Hybrid Stacking Robot Kinematics Analysis and Simulation[J].Machine Design,2010,27(11):47-51.
[14]刘清,韩宝玲,罗庆生,等.S7-200可编程控制器在新型智能码垛机器人中的应用研究[J].制造业自动化,2008(7):39-43.LIU Qing,HAN Bao-ling,LUO Qing-sheng,et al.S7-200 Programmable Logic Controller in the New Intelligent Palletizing Robot[J].Manufacturing Automation,2008(7):39-43.
[15]付铁,李金泉,陈恳,等.一种新型高速码垛机械手的设计与实现[J].北京理工大学学报,2007(1):17-20.FU Tie,LI Jin-quan,CHEN Ke,et al.Design and Implementation of a New High-speed Palletizing Manipulator[J].Journal of Beijing Institute of Technology,2007(1):17-20.
[16]张超群,邓喜君,蔡鹤皋.基于PLC的橡胶包装码垛生产线控制系统设计[J].高技术通讯,1997(8):14-18.ZHANG Chao-qun,DENG Xi-jun,CAI He-gao.Control System Design of Rubber Packing Palletizing Production Line Based on PLC[J].High Tech News Letter,1997(8):14-18.