Development Of The Control System For High Speed Case Packer Based On SIMOTION

Considering the demand of the medical transfusion soft bag packing automation equipment, this paper studied the design of the control system for the soft bag case packer based on the Diamond robot, including the system design, the hardware design and the software development. The following work has been accomplished.According to the requirements of the packing work of the medical transfusion soft bags, this paper does a demand analysis about the carton supply, soft bags supply and soft bags packing with evolutionary analysis model. And it presents a solution with high speed, good flexibility and good stability, which uses the Diamond robot as its kernel part. The plan can meet the requirements of process liquid soft bag packing well.According to the demand analysis of the high speed case packer in the motion control, I/O control, HMI and the network communication and the summary of the advantages and disadvantages of the solutions for the control hardware such as the PC + motion control card and the PLC + motion control module, the final control system hardware design solution which uses the Simotion D435 as its core part with remotes extended I/O modules is achieved. The responding hardware designs such as the hardware selection, the hardware configuration, the network configuration and the circuit design are also done. The solution solves the problems such as the poor stability, flexibility and extensibility and lays a foundation for the development of the control system software.According to the control function analysis of the case packer and the characteristics of the programming languages such as the MCC, the LAD, and the ST, the programming for each module of the control program is done respectively on the Simotion Scout engineering development platform. According to the operating function demand, the design of the HMI is achieved. The system software satisfies the control demand of the soft bag case packer, and has good operability by providing friendly human-computer interface.The software and hardware test platform is set up for the testing experiment such as the single step interpolation function and the point to point grasping function. By capturing the corresponding path point information from the Trace curve, the trajectory of the end point is fitted. The fitting result shows that the control system can do well in controlling the end point trajectory of the robot. According to the technological requirements for the soft bags packing work, the performance test is conducted. The highest frequency is 84 times per minute, which is much higher than the requirement of 50 times per minute and further proves the rationality of the case packer control system.The achievements of the paper provide the important technical support for the drug soft bag packing production of Shijiazhuang No. 4 Pharmaceutical Co., Ltd.