How to realize automatic production of palletizing robot

  Now, if we walk into a modern and highly intelligent production and processing enterprise, we will find that what is busy in the workshop is not workers, but full-automatic and intelligent equipment working in a tense and orderly manner
In fact, not only the production and processing industry, if we enter the logistics enterprise, we will also find that the automatic palletizer such as grab palletizer is used for packaging, delivery and palletizing in the warehouse
Then how can the automatic palletizer such as grab palletizer realize automation?
 
Design of palletizing robot control system: the control system of palletizing robot mainly includes software control system and hardware control system
In the design of modern palletizing robot system, the hardware control system mostly adopts modular form, and the overall structure adopts distributed control structure

 
The upper computer adopts ordinary industrial control computer, which mainly deals with the monitoring and operation management of the system, such as teaching box control, display service, coordinate conversion, automatic acceleration and deceleration calculation, etc
According to the user's command and the requirements of action program statement, carry out trajectory planning, interpolation operation and coordinate transformation, calculate the position of each axis motor, receive the feedback signal of the next level and the signal of external sensor, judge the task execution and environmental state, and then transmit the position update value corresponding to the set point to the next level of joint position servo system, Realize the coordination and control of the movement of each joint

 
The lower computer adopts DSP controller and PLC programmable logic controller
The DSP controller is the pmac104 motion control card used, which mainly performs real-time kinematics calculation, trajectory planning, interpolation calculation, servo control, etc
, continuously reads the pulse amount of each axis encoder, calculates the current position of the robot, and compares it with the given position by software method, The deviation is adjusted by PID, and PLC mainly deals with the control of peripheral equipment of the robot, such as robot claw, pneumatic suction cup, monitoring of various peripheral conveyors, etc

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