基于PLC和那智机器人的码垛输送线控制系统设计  

Design of palletizing and conveying line control system based on PLC and Nachi robot

作　　者：吴健辉 黄德启[1] WU Jianhui;HUANG Deqi(College of Electrical Engineering,Xinjiang University,Urumqi 830000,China)

机构地区：[1]新疆大学电气工程学院,新疆乌鲁木齐830000

出　　处：《现代电子技术》2023年第6期175-181,共7页Modern Electronics Technique

基　　金：国家自然科学基金项目(51468062)。

摘　　要：针对目前我国大多采用人工进行袋装物料码垛的现状,为提高码垛输送线的码垛效率,同时降低企业工人的劳动强度,文中采用西门子PLC S7⁃1200作为控制系统的核心,结合那智机器人LP130设计一种码垛输送线控制系统,用于袋装物料的码垛。针对不同品种的物料,创新性地采用“一机四位”方式,即1台码垛机器人、4个码垛位同时作业,将相同品种物料码为一垛。通过输入输出模块、机器人、视觉装置、触摸屏人机交互界面等实现对生产线的自动控制。根据所设计方案完成码垛输送线的搭建,对设备进行调试并开展码垛实验,记录码垛的数据。分析发现所设计系统误差小,码垛效率可达到设计要求。使用该生产线具有较高的工作效率和良好的可靠性,码垛精度高,对人们的生产生活具有一定的现实意义。To improve the palletizing efficiency of the palletizing conveying line and reduce the labor intensity of the workers,aiming at the present situation that most of the bags for holding material are palletized manually in China,a set of palletizing transmission line control system is designed for palletizing bags of materials,in which Siemens PLC S7⁃1200 is used as the core of the control system,and NaChi robot LP130,is adopted.For different types of materials,a working mode of one robot for four palletizings is used innovatively,that is,a palletizing robot works four palletizing position at the same time,and the same type of materials is put into one stack.The automatic control of the production line is achieved by means of the input and output module,robot,visual device,touch screen man⁃machine interface,etc.According to the design of the scheme,the palletizing transmission line construction is done.The equipment has been tested,the palletizing experiments has been carried out,and the palletizing data is recorded.It is found by analysis that the error of the designed system is small,its palletizing efficiency can meet the design requirements,and the production line has high work efficiency,good reliability,and high palletizing precision.

关 键 词：码垛 输送线控制 PLC 那智机器人 控制系统 人机交互界面 实验分析 

分 类 号：TN876-34[电子电信—信息与通信工程]