Research on Multi-layer Palletizing Programming Method of Robot Based on HSC3 Control System
李萍瑛 1严才秀 1王洪益 1张力文2
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作者信息
1. 宜宾职业技术学院,四川 宜宾 644003
2. 中石化中原石油工程有限公司固井公司,河南 濮阳 457100
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摘要
机器人码垛在生产实际当中应用范围较广,对于来料规则且位置固定的工况,进行码垛编程算法的研究,通过码垛算法实现高效编程,可以大大提高生产效率.本文针对华数Ⅲ型控制系统内 R 寄存器不能取整而导致的码垛编程复杂的问题,对来料位置固定的工况,根据垛型模型设计码垛算法,结合码垛算法与循环指令的嵌套使用,设计编程方法,以简化码垛程序,为基于华数Ⅲ型控制系统的机器人多层码垛编程方法提供一定的参考.
Abstract
The robot palletizing is widely used in the production practice.For the condition of regular incom-ing material and fixed position,the palletizing algorithm is studied,and the efficient programming is realized through the palletizing algorithm,it can greatly improve the efficiency of production.In order to solve the prob-lem of complex palletizing programming caused by incomplete R register in HSC3 control system,a palletizing algorithm is designed according to the palletizing model under the condition of fixed position of incoming materi-al.In order to simplify the palletizing program,a programming method is designed by combining the palletizing algorithm with the nested use of cyclic instructions.
关键词
华数Ⅲ型控制系统/机器人/码垛编程/研究
Key words
HSC3 control system/Robot/Palletizing programming/Research
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