基于多并联机械手的锂离子电池自动分拣装备控制系统设计  

CONTROL SYSTEM DESIGN FOR AUTOMATIC SORTING OF LITHIUMION BATTERY USING MULTIPLE PARALLEL MANIPULATORS

作　　者：王攀峰[1] 梅江平[1] 陈恒军[1] 赵学满[1] 黄田[1] 王友渔[1] 

机构地区：[1]天津大学机械工程学院,天津300072

出　　处：《机械工程学报》2007年第11期63-68,共6页Journal of Mechanical Engineering

基　　金：国家高技术研究发展计划(863计划;2005AA420080)国家自然科学基金(50375106)资助项目。

摘　　要：开发旨在提高锂离子电池分选自动化程度和效率的生产线,该生产线由多个高速、轻型并联机械手构成。利用PXI平台及双多轴运动控制器,提出一种基于集散控制结构(DCS)的开放式数控系统软硬件平台以及基于任务均衡和总移动距离最短原则的分拣策略。此外,研究并应用高速数据缓存技术、高速数据同步通信技术及高速中断信息捕捉和输出技术等旨在提高单机分拣效率和多机协同作业的若干核心运动控制技术。集成基于网络的数据库通信技术并控制系统,测试结果表明:该方案对多机械手的网络化控制十分有效,该装备具有高信息集成度、高分拣效率及高可靠性等优点而可以应用于企业生产,并成为国内首例成功应用并联机械手自动分选锂电池的装备。The development of a new production line for robotization and prompting efficiency of lithiumion battery sorting process is presented by using multiple high speed light weight parallel manipulators. The open architecture of hardware and software of the numerical control system is essentially developed based on a distributed control system （DCS） built by using the PXI platform and two multi-axis motion controllers, and also a sorting strategy is developed to achieve the task equilibrium and the shortest movement space. Otherwise, some crucial motion control techniques such as high speed data buffeting, high speed data synchronization using notifiers and high speed breakpoints capture and output, etc, are investigated and applied to this system to improve the sorting efficiency of a single machine and the cooperation ability of multi-machine. This system is tested and controlled by integrating techniques based on database communications, which shows the validity of the proposed scheme for network control of multi-robot. This system is designed in such a way that enables high information integration, high sorting efficiency, high reliability and is successfully used in battery sorting, it is the first successful appli cation of parallel manipulator for rapid and automatic sorting of batteries in China.

关 键 词：电池分拣 并联机械手 集散控制结构 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]