Research On Motion Control Of Industrial Palletizing Robot Based On PLC

As an emerging high-tech product,industrial palletizing robot is very representative in mechatronics related products.For enterprises,it plays an important role in the improvement of production efficiency,the guarantee of product quality,the enhancement of economic efficiency,the optimization of operation layout and the improvement of working conditions.To a certain extent,its application quality and quantity represents the level of enterprise automation production.In this paper,the industrial stacking robot control technology as the research content,for the current domestic and international industrial palletizing robot control system is poor reliability,teaching process is too cumbersome and other shortcomings,in the Yokogawa FA-M3 PLC controller on the basis of industrial palletizing the second generation of the robot control system was developed.In this process,a lot of technology-related problems have been solved.The actual operation of the robot shows that the system not only has good stability and reliability,but also has strong maintainability and expansibility.The teaching method is simple and efficient,and the operation is simple and it is in line with the practical requirements of industrial application.For the industrial palletizing robot,the mechanical related structure is introduced in detail,and the core mechanism of the exercise is verified,and the formula of its inverse kinematics is obtained.Then,with the formula,learning and kinematics,and then based on the corresponding characteristics and structural characteristics of kinematics and kinematics,the corresponding joint trajectory planning is carried out,and the selection of 4-3-4 trajectory is the trajectory of the joints in the process of the robot.Using Matlab to simulate the work of the robot in the corresponding joint trajectory.At the same time,this paper analyzes the storage process and related steps in detail,and establishes a new teaching method according to the characteristics of palletizing.Through these methods,in the time of any cargo palletizing,first use the corresponding teaching to obtain the first place to place the goods,the remaining goods code points and space through the algorithm according to the algorithm according to the size of the goods,stacking specifications and so on.This teaching process has the advantages of precise and simple,so that the robot in the reproduction of teaching can have a higher accuracy and efficiency.This paper also discusses the interleaving algorithm,and proposes a new algorithm to prove that the algorithm is reasonable and feasible.Finally,according to the actual needs of the pallet construction source search the most important feature of the new method can be used in the normal shutdown state of the machine,do not rely on mechanical movement to reposition,determine the origin,but through the current position write function to achieve zero displacement to determine.Experiments show that the origin search method is fast and accurate,and the coordinate origin is easy to change,which can significantly improve the operation efficiency system.Based on PLC technology,this paper developed a corresponding industrial palletizing robot control system.The results show that the control is stable,smooth operation,easy to use,and has reliable performance.The control system achieves the desired effect in terms of practicability and rationality,which is of great practical significance and reference value for the development of Chinese industrial palletizing robots.