Research On The Control Technology Of System For The Health Ceramic Glazing Robot

Glazing is an important workstage of sanitary ceramics production process,it utilizes the compressed air to make the slurries pulverization and sprays it ontothe surface of body. Since long term, the glazing processes depend mainly onhand in our country, and the operational environment is bad, and the intensity oflabor is big, poor quality and low production efficiency. As the material andcultural life demand of people growing, they raised higher requirement forsanitary ceramics production. Using robots to replace artificial glazing hasbecome the development direction for health ceramic production.Taking the sanitary ceramics glazing special robots as research backgroundand pointing at the adverse operating environment of health ceramic production,such as high humidity, high temperature, and dustiness, the control system ofrobots based on PLC was constructed, the key technology such as the hardwareconfiguration, software realization and servo parameters optimization wasresearched, and the controlling on glazing robots was realized.Based on the structure innovation design of glazing robots, the mechanismkinematics was analyzed, pointed at the problem that the derived degree offreedom (DOF) existed at the end of five DOF joint robots, the positive solutionsand inverse solution of robot kinematics were obtained by utilizing astep-inversion method for little DOF joint robots, which provided themathematical tools for the trajectory control of glazing robots. The hardwareplatform that the PLC CPU, multiaxial kinematic control module, and theindustrial touch screen was as the core, and the AC servo motor was as thedriving component for the robot control system, was constructed, which madethe performance stable and reliable, control flexible and convenient,anti-interference ability strong. Combining two programming model such asPLC ladder diagram and motion control SFC, based on the modular thought, thekey technology concluding the data update, storage, sharing and transmission of teaching track and the software realization of the CPU multi-axissynchronization control on the glazing process, the development of robot controlsoftware was finished. The joint position servo control single simulation modelwith position loop, speed loop, current loop of the third ring was established,adopting the mixing programming of LabVIEW and MATLAB, simulationcalculation on the single joint servo control was made, the value range of systemservo parameters such as position servo control gain, and speed control gain,speed integral compensation, speed differential compensation and feed-forwardgain was obtained, some standards and methods of parameter adjustment wassummarized, and the effectiveness of simulation results was verified by testing.By the method of combining the simulation and test, the settlement andoptimization of servo parameters were completed, which made the robot do theglazing action more smoothly.