摘要
针对螺丝装配多样性、工作效率低、产品质量不均匀等问题,研究了螺丝锁附工作原理,设计了一种以PLC为控制核心的六轴自动锁附螺丝机器人。通过建立六轴机器人机械结构三维模型,提出了基于螺丝孔定位的梯形加减速与积分模型相结合控制算法,构造了气动回路模型。最后系统软件利用状态机与模块化进行设计,实现螺丝锁附过程相互独立、并行控制且多任务调度。实验结果表明,六轴自动锁附螺丝机器人比四轴自动锁附螺丝机器人、人工锁附螺丝成功率分别提高了0.9%、4.6%,锁附效率分别提高了184个/小时、342个/小时。该螺丝锁附机器人能够实现螺丝输送、拧紧、检测功能,稳定性较好且安全可靠。
Aiming at the problems of screw assembly diversity,low work efficiency,uneven product quality,etc.,the working principle of screw locking is studied,and a six-axis automatic screw locking robot with PLC as the control core is designed.By establishing a three-dimensional model of the mechanical structure of a six-axis robot,a control algorithm combining trapezoidal acceleration and deceleration based on screw hole positioning with an integral model is proposed,and a pneumatic circuit model is constructed.Finally,the system software is designed with state machine and modularization to realize the mutual independence,parallel control and multi-task scheduling of the screw locking process.Experimental results show that the success rate of the six-axis automatic screw-attaching robot is 0.9%and 4.6%higher than that of the four-axis automatic screw-attaching robot and the manual screw-attaching robot,and the locking efficiency is increased by 184/hour and 342/hour respectively..The screw-locking robot can realize screw conveying,tightening,and detection functions,and has good stability,safety and reliability.
作者
曾祥林
庹先国
彭英杰
张贵宇
王昆
陈霏
ZENG Xiang-lin;TUO Xian-guo;PENG Ying-jie;ZHANG Gui-yu;WANG Kun;CHEN Fei(School of Automation&Information Engineering,Sichuan University of Science&Engineering,Yibin Sichuan 644000,China;Artificial Intelligence Key Laboratory of Sichuan Province,Yibin Sichuan 644000,China)
出处
《组合机床与自动化加工技术》
北大核心
2021年第4期10-13,18,共5页
Modular Machine Tool & Automatic Manufacturing Technique
基金
国家自然科学基金(41630646)
四川省科技成果转移转化示范项目(2020ZHCG0040)
四川省重大科技专项项目(2018GZDZX0045)
五粮液横向项目(CXY2019ZR002)
四川省科技计划项目(2016SZ0074)
人工智能四川重点实验室开放基金项目(2018RYY01,2018RYJ05)。
关键词
状态机
模块化
并行控制
多任务调度
state machine
modularization
parallel control
multi-task scheduling
