| Along with the rapid development of industrial technology, automated production line has been widely used in the industrial field, and as an emerging technology in the field of logistics automation, palletizing technology have developed rapidly in recent years. Compared to manual palletizing, palletizing robot in the use of automated production line can improve production efficiency and reduce labor costs.This paper design a kind of palletizing robot control system based on PLC witch is the core controller. The system uses a Siemens S7 200 Smart PLC as a hardware controller and Siemens 700IE touch screen as man-machine interface (HMI), consisting of hardware control systems. Finally, we establish Ethernet communication include PLC and PLC, PLC and HMI, and complete the design of the whole palletizing control system. After experimental verification, the palletizing control system based on PLC can achieve the palletizing handling tasks, and in the actual industrial field has been applied. But this palletizing system is open-loop control system, in order to meet the system requirements, and the development of stable, reliable, closed-loop control is the control system trend.Therefore we propose an improved scheme:Join the encoder and encoder in the system to turn this system to closed-loop control system, While introducing machine vision to the palletising control system, machine vision combined with palletizing robot,make the system have hand-eye coordination functions; Here we focus on machine vision system was studied using virtual instrument technology to achieve visual function. This paper use the Labview software and the NI Vision Development visual components visual development platform, configured to form a simple USB camera machine vision system. We need for camera calibration before performing image processing. This paper can be realized via calibration module of Labview software, and establish communication between Labview and PLC by OPC technology, to achieve transfer of data, location information will get and sent to the PLC, to help PLC control palletizing robot to complete grabbing and handling, and then reached the target of closed-loop control. |
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