摘要
为促进建筑行业自动化发展,针对瓷砖铺贴工艺对机器人技术、定位技术及高速、高数据处理性能及实时坐标记录的需求,提出了基于Beckhoff嵌入式PC控制系统的瓷砖铺贴机器人控制系统。设计了针对机器人、移动平台、激光测距传感器、真空吸盘的综合控制系统,该控制系统利用激光传感器实现瓷砖空间定位,真空吸盘实现瓷砖抓取放置动作,移动平台扩大瓷砖铺贴范围。Beckhoff嵌入式PC作为上位机与硬件通过对应数字量模块、RS232模块实现通讯。瓷砖铺贴实验结果表明:系统可实时记录瓷砖位置坐标,并能满足机器人实时控制的需求,验证了该系统在精度上可完全代替人工实现瓷砖铺贴工作,同时铺贴效率得到了大幅提高。
In order to promote the development of automation in the construction industry,a tile paving robot control system based on Beckhoff embedded PC control system was proposed to meet the requirements of tile paving process for robot technology,positioning technology,high-speed and high data processing performance and real-time coordinate recording.Designed for robots,mobile platforms,laser ranging sensor,integrated control system of super manufacturing comp(SMC),the control system using laser sensor for ceramic tile spatial positioning,vacuum,fetching placed action implementation ceramic tile,the ceramic tile of mobile platform to guarantee a certain scope of the shop is stuck,Beckhoff embedded PC as upper machine and hardware through the corresponding digital quantity module,RS232 communication module implementation.The experiment shows that the control system can satisfy the real-time control of the robot and record the position coordinates of the ceramic tile in real time.
作者
杜亚男
周惠兴
刘天宇
张俊杰
DU Ya-nan;ZHOU Hui-xing;LIU Tian-yu;ZHANG Jun-jie(Electrical and Mechanial College,Beijing University of Civil Engineering and Architecture,Beijing 100044,China;Building Robot and Intelligent Equipment Intelligent Laboratory,Beijing 100044,China;Beijing Construction Safety Monitoring and Industrial Control Technology Research Center,Beijing 100044,China;College of Engineering,China Agricultural University,Beijing 100094,China)
出处
《科学技术与工程》
北大核心
2020年第3期1086-1091,共6页
Science Technology and Engineering
基金
中国建筑集团开放人才课题(00362018231)。
