导　　师： 杨建武

学科专业： 080202

授予学位： 硕士

作　　者： ;

机构地区： 北京工业大学

摘　　要： 随着烟草行业的迅速发展,对香烟生产的自动化要求也越来越高,而烟草刚刚进入烟草生产车间后的拆包工作却一直以来是由工人手工拆包完成的,这不但耗费了大量的人力,而且效率很低,会直接影响到香烟的后续生产。本文针对拆包机器人的工艺特点,以软PLC技术为平台,基于SERCOS接口技术设计了烟草拆包机器人的控制系统,实现了烟草拆包的全自动过程,对于企业生产自动化具有很好的实际意义。 本文首先根据机器人的机械结构对其进行运动学分析,包括正向运动学、逆向运动学的分析和机器人的雅可比矩阵及速度解,为控制系统的开发建立了理论基础。 在研究软PLC技术和SERCOS接口技术的基础上,构建了以工控机和标准现场总线通讯卡为主的开放式控制平台,其中运动控制采用SERCOS接口技术,逻辑控制采用CanOpen通讯协议。该控制系统硬件结构简单,可靠性高,有利于实现高速,高精度的运动控制。 控制系统软件构建在Windows XP操作系统平台上,以符合IEC61131-3国际标准的软PLC软件CoDeSys为开发和调试工具,完成了机器人控制软件的开发。软件结构采用模块化设计,具有开放性。 本文控制系统的运动采用标准的G代码实现,为便于用户使用,开发了机器人语言转换成NC代码的模块,为机器人的控制系统设计提供了一个新的可行的方案。 Along with the rapidly developing of cigarette industry, the requests of automation produced to the cigarette is also more and more high, but when the tobacco first enters the cigarette production workshop, it needs many workers remove the packaging by hands, this not only wastes a great deal of labour force, but also makes the efficiency lower, it directly influences to the following cigarette production. Contraposing the characteristics of the robot, designed the control system of the robot based on the SERCOS and soft PLC, carrying out a full-automatic process of removing the tobacco's packaging,it's good for the produce automation of a corporation. First we analysis the machine structure of the robot, then do the kinematics analysis according to the machine structure of the robot, include forward kinematics analysis、converse kinematics analysis and the Jacober matrix of the robot and the speed solution. Providing a theoretics base for the control system. Set up an open control system that mainly consisted of industry computer and standard fieldbus based on SERCOS and soft PLC. Motion control uses SERCOS interface and logic control adopts CanOpen communication agreement. The structure of hardware of the control system is simple and high reliability. It’s easy to realizing the high speed and high accuracy motion control. The software of the control system designed on the operating system -Windows XP, using the soft PLC software called CoDeSys that matches international standard of IEC61131 - 3, complete the design of the robot control system. The software structure adopts model design, it’s an open system. The motion control of the robot control system adopts standard G code,for the easy use of customer, develop a language conversion model that can transfer the robot language to NC code, provided a new viable project for the control system design of the robot.

关 键 词： 运动学分析 软 现场总线 运动控制系统 语言转换

领　　域： [农业科学] [自动化与计算机技术] [自动化与计算机技术]