摘要
目的在分拣包装应用中,实现工业机器人使用指定的压变设置对物体进行夹取作业。方法设计由PLC、机械夹手、触摸屏、工业机器人组成的夹取系统。其中采用三菱FX系列PLC为控制中心,具有多传感器的机械夹手为末端执行器,三菱GS系列触摸屏为交互界面,安川工业机器人为运动机构。根据夹取流程,采用PLC分析夹取限位、闭合限位、压力检测、变形检测等传感信息,并协调各部分运行。结果系统能够在设定的压变范围内,实现对适用物体的自动夹取作业,并且通过触摸屏可便捷查看检测信息及设置参数。结论该系统能够基于多传感器的检测进行机器人夹取作业,且参数可调控,适用于自动化夹取作业。
The work aims to clamp the object with the specified pressure change setting in the sorting and packaging of industrial robot.The clip system composed of PLC,mechanical gripper,touch screen and industrial robot was designed.Among them,Mitsubishi FX series PLC was the control center,mechanical gripper with multi-sensors was the end-effector,Mitsubishi GS series touch screen was the interactive interface,and Yaskawa industrial robot was the motion mechanism.According to the clamping process,PLC analyzed the clamp limit,closed limit,pressure detection,deformation detection and other sensing information,and coordinated the operation of each part.The system could realize the automatic clamping operation of the applicable object within the set pressure change range.And the touch screen could be used conveniently to check the detection information and set parameters.The system which is suitable for automatic clamping operation can perform robot clamping operation based on multi-sensor detection,and the parameter is adjustable.
作者
陈东青
姚超友
CHEN Dong-qing;YAO Chao-you(Guangzhou College of South China University of Technology,Guangzhou 510800,China)
出处
《包装工程》
CAS
北大核心
2020年第15期200-205,共6页
Packaging Engineering
基金
校级高等教育教学改革项目(JY191401)
广东省教育厅重点培育学科建设项目(52-CQ170006)。
