基于UG NX与PLC的码垛机器人联合仿真分析  

Joint Simulation Analysis of Stacking Robot Based on UG NX and PLC

作　　者：宋振伟 孙玉忠 王绍奇 李永华[2] 吴鑫辉 Song Zhenwei;Sun Yuzhong;Wang Shaoqi;Li Yonghua;Wu Xinhui(Kede CNC Co.,Ltd.,Dalian,Liaoning 116600,China;College of CRRC,Dalian Jiaotong University,Dalian,Liaoning 116028,China;College of Mechanical and Electrical Engineering,Dalian Nationalities University,Dalian,Liaoning 116605,China)

机构地区：[1]科德数控股份有限公司,辽宁大连116600 [2]大连交通大学中车学院,辽宁大连116028 [3]大连民族大学机电工程学院,辽宁大连116605

出　　处：《机电工程技术》2024年第4期86-91,共6页Mechanical & Electrical Engineering Technology

基　　金：辽宁省线上线下混合一流课程(232021)。

摘　　要：针对实现机器人自动化码垛的费用高和耗时长的问题,采用UG NX与PLC联合仿真,实现机器人自动化码垛的设计与分析。基于UG NX建立传送带和机器人等的三维模型,在UG NX的机电概念设计模块设置模型的运动副,刚体和碰撞体,添加传送面、产品对象源、传感器以及控制装置,并根据相应的运动逻辑为系统添加对应的信号适配器,以实现各个模型之间的联动、机器人运动路线的切换等功能。用PLCSIM信号通道连接MCD模型的信号与虚拟PLC,使MCD模型可以完成与PLC的联动,实现将输送带、机器人以及PLC等设备进行联动。通过HMI控制面板控制虚拟样机,以分析各组件的运行状态、速度、加速度以及运动轨迹等是否满足要求,验证设计方案的可行性,减少开发的时间及成本,加快设备投产的进程。In response to the high cost and long time consumption of implementing robot automated palletizing,a joint simulation of UG NX and PLC is adopted to achieve the design and analysis of robot automated palletizing.Based on UG NX,a three-dimensional model of conveyor belts and robots are established.In the electromechanical conceptual design module of UGNX,the motion pair,rigid body and collision body of the model are set,the transmission surface,product object source,sensor and control device are added,and the corresponding signal adapter is added to the system according to the corresponding motion logic,so that the linkage between each model and the switching of the robot movement route and other functions can be realized.PLCSIM signal channels is used to connect the signals of the MCD model with the virtual PLC,so that the MCD model can complete linkage with the PLC to achieve linkage control of conveyor belts,robots,and PLC equipment.The virtual prototype is controlled through the HMI control panel to analyze whether the running state,speed,acceleration and motion trajectory of each component meet the requirements to verify the feasibility of the design scheme,so the development time and cost of development can be reduced,and the process of equipment production can be sped up.

关 键 词：码垛机器人 MCD PLC 联合仿真 

分 类 号：TH122[机械工程—机械设计及理论]