Research On Control System Of A 4 DOF Cartesian Palletizing Robot

With the further maturity and development of industrial automation technology,palletizing robots have been widely used in cement,packaging and other industries,and play an important role in the upgrading of industrial automation industry.In recent years,due to the changing market environment and the development and development of industry 4.0,it is more desirable that the palletizing robot can replace the artificial pallet.At the same time,all walks of life need industrial upgrading,towards the intelligent,automated direction.As one of the special uses of industrial robots,the palletizing robot is now an indispensable and important part of the industrial upgrading of the enterprises concerned.However,most of the palletizing robots on the market are dominated by joint robots,and their prices are relatively expensive and difficult to maintain,so it is difficult for such robots to be accepted by most small and medium enterprises.Therefore,the study of palletizing robots is of great significance to promote palletizing robots to become more market-oriented.In view of this problem,this paper aims to develop an economical and practical four-degree-of-freedom rectangular carton palletizing robot.The main contents of this paper are as follows:Firstly,the control requirements,working environment and working mode of the palletizing robot are analyzed in detail.The AC servo system and the DC servo system,the PLC control system and the single-chip microcomputer control system are compared and analyzed.And designed Four-degree-of-freedom rectangular coordinate palletizing Robot control system overall scheme.Secondly,according to the overall scheme of the control system,the AC servo motor,the motion module and the PLC are selected,and the general theoretical calculation and analysis are given,and the reasonable control mode of the motor control mode is selected,Wiring diagram and the main control circuit diagram and on-site construction drawings.Next,taking the Z-axis AC servo control system as an example,the engineering design method is used to analyze the current loop,velocity loop and position loop.The Z-axis subsystem simulation model is established in Simulink environment,and the Z-axis servosystem is simulated and analyzed,and the expected result is obtained.Then,according to the general method of PLC software design,not only allot I/O address,but also the design of the control panel system,and the entire control system for PLC modular programming,each part of the program for a detailed explanation and description,In the PLC programming software GX-works2 on the various parts of the ladder program simulation debugging,simulation,indicating that the design process is reasonable.Finally,the man-machine interaction interface of the palletizing robot control system is designed,and the actual palletizing effect diagram of the system is given,which meets the expected control requirements.