三軸機械手臂自動化控制系統整合

Control System Integration For A 3-axis Robot

周梅忠(Mei-Chung Chou)

指導教授 ： 丁鏞

中原大學/工學院/光機電及資電控產業研發碩士專班/碩士(2012年)

https://doi.org/10.6840/cycu201200975

摘要

隨著高科技產業的蓬勃發展，製造產業也隨之興盛。為了降低生產成本、提昇品質與增加生產效能，使用自動化機械進行製造生產之趨勢是不可避免的，係針對印刷電路板(Printed Circuit Board, PCB)製程需求，設計製作一具有三自由度空間機械手之自動化設備。整體設計目標為設計適當之機構符合精確、快速、造型簡單，並配合所建立之穩定可靠的控制系統，達到完成PCB板取放之生產速度為12 pcs/min之目標。
本技術報告研究的對象為Schmid公司的三軸機械手臂，控制部分的設計以PLC可程式控制器(Programmable Logic Controller)、PC-Based運動控制(Servo Motion Control)作為實體的控制層，並加入人機介面(Human Machine Interface)作為上層的監控層，輔以適當之電控元件的感測與驅動，可實現完整的控制架構達成在PCB板取放應用的控制動作，並經過與實際的機台運轉測試，並能達到12 pcs/min取放速度的要求。

關鍵字

機械手臂 ； 控制器

並列摘要

Thanks to the highly developed technology, the manufacturing industry becomes striving. In order to reduce the cost as well as to enhance the quality and the efficiency of the production, it is an inevitable trend to use automation equipments. In this research, a three-axis robotic arm system is designed for the Printed Circuit Board manufacturing process. Through precise and fast as well as reliable mechanical design of the robot arm system, the goal of throughput rate of 12 pieces per minute (12pcs/min) can be reached.

This report introduces the three-axis robotic arm system made by SCHMID automation company. Programmable logic controller associated with the PC-based servo motion control is the primary control layer and Human machine interface is included as the monitor layer, constructs the robot control system. With the auxiliary sensors and driving systems, an entire robot system is able to carry out the pick and place task in the PCB panels. Via experime testing, the robot system can achieve the desired throughput of 12 pics/min.

並列關鍵字

robot ； controller

參考文獻

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