Design Of Training Platform For Reconfigurable Material Sorting

In recent years,the rapid development of express,logistics and other industries has put forward higher requirements for the sorting process.The traditional manual sorting method has the disadvantages of low sorting efficiency and large sorting error,which is not suitable for the development needs of the current era.The emergence of automatic sorting system provides a good solution to overcome the above shortcomings,and will also be the inevitable trend of industry development in the future.The main goal of this design is to develop a set of reconfigurable material sorting training platform.The platform takes Siemens S7-1200 PLC as the control core,and is designed with feeding module,transmission line module,truss manipulator module and three-dimensional storage module.Each module is a small electromechanical system based on the pneumatic device as the execution unit.In addition,a sensor detection and sorting unit is set on the transmission line module,which can provide the color,material,status and other signals of materials.The touch screen is used as the input control tool to realize the automatic sorting of materials with different colors and materials.Firstly,by analyzing the actual teaching needs,this paper defines the overall design idea of the reconfigurable material sorting training platform,and determines that the platform is composed of feeding module,transmission line module,truss manipulator module and threedimensional storage module.The modular design method is adopted,so that different modules can be reorganized in different orders,so as to realize different forms of process flow combination.Secondly,the hardware design of the control system is carried out,mainly including the selection of electrical components such as PLC,sensor and touch screen.The detailed calculation and selection process of servo motor and stepping motor are given;In order to enable Dobot manipulator to grasp,transfer and place materials more stably and efficiently,its forward and inverse kinematics solutions are calculated by D-H transformation method,its running trajectory is optimized by quintic polynomial interpolation method,and simulated by MATLAB software.This method ensures the smoothness and stability of manipulator trajectory.Then,the software design of the control system is carried out,mainly including the power supply circuit design of two PLC and I/O modules and the wiring circuit design corresponding to the actual I/O distribution point,the wiring circuit design of servo driver and stepping driver;The overall pneumatic control system of the training platform and the sub-pneumatic control system corresponding to each module are designed;the ladder diagram control program design corresponding to each module is completed;the human-machine interface is designed,mainly including the design of the main control interface and the design of the sub control interface corresponding to each module.Finally,the software simulation test of the ladder diagram of the control system is carried out.After the test and modification,the program is downloaded to the touch screen for online debugging.The problems are analyzed one by one,and effective solutions are put forward.After the problems are solved,the sorting accuracy is counted through many tests.The statistical results show that the training platform has achieved the design purpose and can meet the actual teaching needs.