Design Of Control System Of Special Palletizing Robot For Brake Pad Polishing

Robots are important equipment to realize intelligent manufacturing,and palletizing operations under severe working conditions are one of the main tasks undertaken by industrial robots in actual production.Aiming at the disadvantages of the existing brake pad polishing production line,such as high environmental pollution,single product specifications,and high labor intensity of workers,a special palletizing robot control system for brake pad polishing is designed to achieve flexibility,precision and efficiency of the palletizing and depalletizing operations in the polishing process.Based on the existing brake pad polishing production line and polishing process,combined with product specification information,the improvement strategy of the brake pad polishing production line is studied,and a PLC-based automatic brake pad polishing production line program is proposed.Improving the structure of the brake pad polishing production line,taking advantage of the flexibility of the combination of industrial robots and ground rails,and designing a flexible palletizing and depalletizing control system to handle the brake pads in five brake pad polishing equipments and loading or unloading baskets;With the support of RFID technology,five brake pad polishing equipments can achieve simultaneous polishing of brake pads with different specifications and information;Multi-sensor technology is used to detect brake pad information,and HMI is used to display brake pad information.When scheduling the palletizing robot to perform loading and unloading operations,trajectory planning is required for the robot Through the robot kinematics analysis,the robot model is established to simulate and analyze the robot workspace;Based on the detailed description of these trajectory planning algorithms of joint space cubic polynomials,cubic polynomials with intermediate points,fifth-degree polynomials,linear function with parabolic fitting,and task space linear and circular,the robot model is used to conduct targeted simulation analysis and verification of these trajectory planning algorithms,and the movement path of the palletizing robot is designed.In the process of scheduling the palletizing robot to move on the ground rail,high-precision requirement is required for the position of the robot on the ground rail.Because the position of each teaching point of the robot in the process of palletizing and depalletizing has been determined,the accuracy of the palletizing and depalletizing process mainly depends on the control of the displacement of the ground rail base.The linear movement of the base is driven by an AC servo motor.By precisely controlling the AC servo motor,the accuracy of the robot in the palletizing and depalletizing process can be realized.Simulation analysis shows that compared with PID control,the servo control method based on fuzzy PID algorithm has better robustness,stability and followability.And then a design method of flexible palletizing and depalletizing control system with PLC as the core controller is proposed.Experimental verification shows that on the basis of the improved mechanical structure of the brake pad polishing production line,through the establishment of Profinet communication between the palletizing robot and the PLC,the flexible,precise and efficient palletizing and depalletizing tasks of the industrial robot can be effectively realized.