基于华数Ⅲ型控制系统的机器人多层码垛编程方法研究  

Research on Multi-layer Palletizing Programming Method of Robot Based on HSC3 Control System

作　　者：李萍瑛 严才秀 王洪益[1] 张力文 Li Ping-ying;Yan Cai-xiu;Wang Hong-yi;Zhang Li-wen(Yibin Vocational and Technical College,Sichuan Yibin 644003;Sinopec Zhongyuan Petroleum Engineering Co.,Ltd.,Cementing Company,Henan Puyang 457100)

机构地区：[1]宜宾职业技术学院,四川宜宾644003 [2]中石化中原石油工程有限公司固井公司,河南濮阳457100

出　　处：《内燃机与配件》2024年第22期120-122,共3页Internal Combustion Engine & Parts

基　　金：宜宾职业技术学院科研项目(科技类)“基于华数III型控制系统的机器人码垛算法及视觉码垛研究”(ZR22YB-22)。

摘　　要：机器人码垛在生产实际当中应用范围较广,对于来料规则且位置固定的工况,进行码垛编程算法的研究,通过码垛算法实现高效编程,可以大大提高生产效率。本文针对华数Ⅲ型控制系统内R寄存器不能取整而导致的码垛编程复杂的问题,对来料位置固定的工况,根据垛型模型设计码垛算法,结合码垛算法与循环指令的嵌套使用,设计编程方法,以简化码垛程序,为基于华数Ⅲ型控制系统的机器人多层码垛编程方法提供一定的参考。The robot palletizing is widely used in the production practice.For the condition of regular incoming material and fixed position,the palletizing algorithm is studied,and the efficient programming is realized through the palletizing algorithm,it can greatly improve the efficiency of production.In order to solve the problem of complex palletizing programming caused by incomplete R register in HSC3 control system,a palletizing algorithm is designed according to the palletizing model under the condition of fixed position of incoming material.In order to simplify the palletizing program,a programming method is designed by combining the palletizing algorithm with the nested use of cyclic instructions.

关 键 词：华数Ⅲ型控制系统 机器人 码垛编程 研究 

分 类 号：TH237[机械工程—机械制造及自动化]