The Control Technology Research Of Bagged Cement Loading Robot

In view of the problems of poor working environment, large labor intensity and low production efficiency in the domestic cement production enterprises in the process of loading bagged cement, as well as the demands of high speed, heavy load and large work space, etc, a new type of bagged cement loading robot mechanism is put forward. On the basis of theoretical analysis of mechanism kinematics, trajectory planning and dynamics, the robot control system is built, and the process control technology of robot loading is studied. The control software is also developed, and the process control of automatic loading process is realized.According to the functional demands analysis, the overall structure scheme and manipulator mechanism of bagged cement loading robot are proposed, the 3D structure model of the robot is established by Solid Works, a 3D software. The dimensional parameters of mechanism are determined, and the overall movement scheme of loading machine and the manipulator movement pattern are investigated. Also the manipulator kinematics is analyzed. The inverse kinematics model is obtained.In order to determine the kinetic scheme of the manipulator for targets of high speed and smoothly movement, the manipulator trajectory plan is carried out. Based on joint space and rectangular coordinate space trajectory plan method, and the polynomial interpolation method are used to plan the motion trajectory, and the driving function of each joint is obtained. Simulation is done through MATLAB software to analyze the rationality of the scheme.Based on the Lagrange equation, the mechanical model of the manipulator is established, and the dynamic simulation of the manipulator movement process is carried out by software ADMAS, analyzing of the change of joint torque. And servo motor is selected. In view of the problem that the motor torque is not consistent due to load changes and trajectory changes in the process of manipulator movement, wheel allocation is proposed to solve the problem, and effectively improve the stability of servo motor control.Based on the theoretical analysis above, the hardware configuration of the control system of the manipulator is carried out; a control system based on MITSUBISHI PLC+Motion series CPU Q module is build. The motion control, continuous path control and data transmission of the 8 axis linkage are studied, and the control program is developed.The results of the research are of great significance to reduce the labor intensity, improve working environment, increase workspace, improve automation level and other factors during the cement load process.