Control System Research On Palletizing Robot

With the rapid development of the logistics industry, automated warehouse technology is increasingly mature and the applications of stacker are increasing popularity. All the above greatly reduce the labor intensity and improve labor productivity. As the18th National People’s Congress of Communist Party of China has just concluded, the slogan of transformation of the economic growth mode will promote the tertiary industry towards automation and intelligence.This paper seizes the opportunities and the gaps in the market for small warehousing and services industry, and proposes a new program of small palletizing robot which is controlled by PLC and driven by servo motor with Cartesian coordinate system. The author attempts to take automatic control technology into the pharmaceutical, catering, sales, book lending, logistics of consumer goods and other tertiary industries to emancipate productive forces. The program owns a simple structure, high degree of automation, good economic benefits and has broad market prospects.In this paper, the author mainly undertook the following work.1. A brief summary of the background and research status of automated warehouse and stacker, and comparative analysis of the existing programs of the motion control system have been done, and the advantages and disadvantages as well as the scope of the programs have been pointed out.2. In the context of taller, bigger and faster palletizing robots, this paper proposes a small and lightweight program, and did a lot of checks on the major components.In addition, this paper presented a program of automatic replacement of mechanical hand for the lack of fork.3. This paper takes full advantage of the function of high-speed pulse output of Omron PLC, and the high precision position control of servo systems, and proposes a semi-closed loop control scheme of palletizing robot. This program abandoned the traditional addressing methods of the combined of addressing chip and laser ranging. This program not only improves the positioning accuracy and addressing efficiency, further streamlines the structure, and improves the stability and maintainability of the system.4. For the prototype of Cartesian coordinate system, a four-axis pulses coordinate system of palletizing robot was established in space. The key points of palletizing robot and warehouse drawers are corresponded uniquely with the pulses of servo motor, so the addressing and positioning of palletizing robot are more intuitive. The ladder diagrams of out of storage of palletizing robot were written, and a lot of experiments were done on the basis of the existing laboratory equipment.5. An operation monitoring system of palletizing robot was established, and a GUI with a beautiful visual was made. In this paper, the domestic software King View was used to make hardware configuration and communication connection and GUI writing of the entire system. The operation monitoring system has multiple operating modes, the real-time display of warehouse status and cargo information, timely alarm of error and failure, query of real-time trend curve of speed.