基于PLC数控车床上下料机器人软件设计-豆柴文库

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基于PLC数控车床上下料机器人软件设计
Introduction:
PLC(ProgrammableLogicController)isatypeofdigitalcomputerthatisdesignedtocontrolmanufacturingprocessesandvariousindustrialequipmentsuchasrobots,motors,pumps,andservodrives.OneoftheapplicationsofPLCisinthedesignofCNC(ComputerNumericalControl)machinessuchasCNCturningandmillingmachines.Inthiscontext,theuseofPLC-basedmaterialhandlingandloadingandunloadingrobotsisbecomingincreasinglywidespread.
ThispaperdiscussesthedesignofsoftwareforaPLC-basedmaterialhandlingandloadingandunloadingrobotusedonaCNClathe.Thepaperfocusesonthesoftwaredesignandprogrammingconsiderationsthatarenecessarytoenabletherobottoperformitsfunctionsefficientlyandaccurately.
Hardwarerequirement:
ThefollowinghardwareisrequiredtoimplementtheCNClathewiththematerialhandlingrobot:
-ACNClathesystem
-AProgrammableLogicController(PLC)
-AnInput/output(I/O)unittoconnectthePLCwiththeexternaldevicessuchassensorsandactuators
-DC(directcurrent)Servomotorstodrivetheroboticarmandothercomponents
-Pneumaticorhydrauliccylinderstopowerthepneumaticorhydraulicactuators
-End-effectorssuchasgrippers,suctioncups,orchuckstoholdandreleasetheworkpieces
-Avisionsystemthatcandetectandlocatetheworkpiecesandothertargets
Softwaredesign:
ThesoftwaredesignofthematerialhandlingrobotfortheCNClathesystemcanbedividedintofourstagesasfollows:
1.System-leveldesign:
Thesystem-leveldesigninvolvesdefiningtheoverallsystem'sfunctionalrequirements,performancespecifications,andoperatingconditions.Aconceptualblockdiagramoftheroboticsystemisdeveloped,indicatingthemaincomponentsandtheirinteractions.Thesystem-leveldesignspecifiesthePLC'sinput/outputrequirementsandthecommunicationprotocolsbetweenthePLCandotherexternaldevices,includingsensors,actuators,andthevisionsystem.
2.Algorithmdesign:
Thealgorithmdesignstageinvolvesdefiningthemathematicalandlogicaloperationsthatneedtobeperformedtoachievetherobot'sobjectives.Thisincludesdefiningthemotiontrajectoriesandcontrolschemesfortherobotarmandtheend-effectors,aswellasthesensinganddec