Research On Control Of Cement Loading Robot Based On SIMOTION System

At present,the bagged cement in our country adopts the manual loading mode,which poses the problems of poor working environment and labor intensity of workers.According to the actual production,a new type of cement loading robot mechanism suitable for high-speed and heavy-load work is put forward,the robot control technology is further studied and the control system is developed in this project.A symmetric double tandem robotic arm loading robot mechanism is proposed and the robot trajectory is optimized.In view of the high speed,heavy load characteristics and loading process requirements of cement loading robots,a loading robot is constructed by symmetrical unloading double tandem robot.In order to minimize the lateral vibration of the manipulator,the trajectory of the claw is planned and the trajectory equation is determined.The robot arm is simulated and analyzed by using the robot toolbox of Simulink then.According to the actual work,the analysis confirmed that the two robots will not interfere when they work,the working process of the loading robot is designed.A robot motion control system based on SIEMENS SIMOTION is configured.Based on the type of robotic mechanism,the hardware system components are selected and the electrical control schematic diagram of the control system was designed,by analyzing the characteristics and technical parameters of each control system component.The hardware devices are configured on the SIMOTION SCOUT software platform.The configuration of the hardware devices includes the settings of the communication network and the hardware configuration.The method of robot motion control is studied.On the basis of the completed configuration of hardware devices and the standard plug-in library of kinematics transformation in SIMOTION SCOUT software,combined with the type of loading robot mechanism,the kinematics transformation of the loading robot is studied by the import of plug-in library,creation of axes,adjustment of library constants,creation of parameter structures,processing of parameter variables,calling the function block to write the kinematic transformation program and the distributing program execution system.The correctness of kinematic transformation is verified by MATLAB software.The kinematic transformation result is the control algorithm of servo motor.A robot loading control software system is developed.Based on the SIMOTION SCOUT software platform,the zero point setting function,zero return function,jog function,positioning function,interpolation function and communication function of the loading robot are developed.Combined with the loading process,the loading control flow chart is designed and the robot loading control software system is developed.