The Development Of Cartesian Picking Robot For Plates After Flame Cutting And Research On The Control Method Of Servo Motion System

With the proposal and implementation of "made in China 2025",the upgrading of equipment manufacturing industry has risen to the national strategy.It is urgently to improve its automation and intelligence level.At present,in the machinery manufacturing enterprises,the plates after flame cutting were picked by manual operation,which was high labor intensity and low efficiency.Therefore,a robot system for automatic picking is developed in this paper to improve the production efficiency of the preparation workshop.In addition,in order to improve the position precision of the picking robot,the control strategy of the permanent magnet synchronous AC servo system is studied.By analyzing the working condition requirements of the plates picking process,the overall structure scheme of the Cartesian picking robot was determined.By analyzing the functional requirements of the picking process,a rigid flexible hybrid end executor with excitation function is designed to solve the problem of partial melting after flame cutting.The end executor also meets the requirements of fast moving and flexible pickup.By analyzing the demand of the control system of the plates picking robot,the hardware of the control system of the picking robot is designed,including the upper industrial computer,the slave controller,the sensors,the servo drive and the motion control module.The cutting machine is mostly based on the G code to complete the NC cutting control.The software of the control system of this plates picking robot is designed,including converting G code into graphics,algorithm for finding the center of gravity of each plates and the motion control algorithm of slave computer.The end executor of this plates picking robot needs to act on the center of gravity of each plate,and there are nonlinear factors such as slider friction,synchronous belt deformation and external disturbance in the running process.In this study,a fuzzy adaptive tuning PID control algorithm is designed for servo motion control.The permanent magnet synchronous alternating current servo motor system mathematical model should be analyzed and established.The friction characteristics of the slider of the synchronous belt guide will be studied and the friction model of the slider will be established.Then the simplified mechanical model of mechanical structure of this robot system is established.The simulation model of control algorithm used in servo motion control system is established in Matlab/Simulink based on the dynamic model of robot servo motion system.In addition,an experimental platform is built based on the NI9516 motion control and the CompactRIO controller.Under the working mode of the torque loop,the fuzzy adaptive tuning PID control algorithm is adopted to realize position loop and speed loop control.