焊接機(jī)器人及其自動(dòng)化項(xiàng)目設(shè)計(jì) 流行PLC品牌及其開(kāi)發(fā)的行業(yè)應(yīng)用

Design of fuzzy logic control system incorporating human expert knowledge for combine harvesterMany factors affect the yield loss in wheat harvesting with a grain combine harvester. Grain harvesting is a non-linear process, is of considerable complexity, and there is no mathematical model to describe the behavior of this complex system. In this paper, a fuzzy logic controller (FLC) incorporating human expert knowledge is designed for automatic adjustment and control of the harvester to achieve minimal grain losses especially at the position of straw walker and upper sieve. The FLC automatically adjusts cylinder speed, concave clearance, fan speed and forward speed of the combine based on the measured losses at straw walker and sieve sections. The designed FLC expert system consists two inputs and four outputs. Trapezoidal membership functions were selected for input fuzzy linguistic variables (straw walker and sieve losses), whereas fuzzy singletons were considered for the outputs. Based on human expert knowledge, six rules with logical AND operator and Mamdani implication are extracted. FLC was implemented in a programmable logic controller (PLC). Field experiments in two different irrigated or non-irrigated cultivated areas in order to evaluate the system. It was found the losses at the position of straw walker and upper sieve in the irrigated wheat cultivated area is much higher than the dry wheat cultivation area. Statistical analysis using t-test was also indicated a significant difference (p1%) between loss mean in the combine equipped with the controller and the one without FLC.基于專(zhuān)家知識(shí)的聯(lián)合收割機(jī)模糊邏輯控制系統(tǒng)設(shè)計(jì)及其與人的工作協(xié)調(diào)Design, construction and operation of spherical solar cooker with automatic sun tracking systemIn this work, the effect of two axes tracking on a solar cooking system was studied. A dish was built to concentrate solar radiation on a pan that is fixed at the focus of the dish. The dish tracks the sun using a two axes sun tracking system. This system was built and tested. Experimental results obtained show that the temperature inside the pan reached more than 93C in a day where the maximum ambient temperature was 32C. This temperature is suitable for cooking purposes and this was achieved by using the two axes sun tracking system.太陽(yáng)能廚具的太陽(yáng)方向自動(dòng)跟蹤系統(tǒng)設(shè)計(jì)和建設(shè)An automated industrial conveyor belt system using image processing and hierarchical clustering for classifying marble slabs基于圖像處理的工業(yè)傳送帶的自動(dòng)聚類(lèi)和分類(lèi)系統(tǒng)Although there are many industrial machines used in marble industry, classification of marble slabs in terms of quality is generally performed by human experts. Due to economic losses of this rather subjective process, automatic and computerized methods are needed in order to obtain reproducible and objective results in classification. With the aim of remedying this insufficiency in marble industry, a new electro-mechanical system, which automatically classifies marble slabs while they are on a conveyor belt and groups them with the help of a control mechanism, is proposed. The developed system is composed of two parts: the software part acquires digital images of marble slabs, extracts several features using these images, and finally performs the classification using clustering methods. The hardware part is composed of a conveyor belt, a serial port communication system, pneumatic pistons, a programmable logic controller (PLC), and its control circuits, all employed together for grouping the marble slabs mechanically. Although similar studies exist, this paper proposes three novelties over the existing systems. Firstly, a new hierarchical clustering approach is introduced for quality classification without requiring a training set. Secondly, a new feature set based on morphological properties of marble surface images is proposed. Finally, an electro-mechanical system is designed for accomplishing the task of sorting out the classified marble slabs. In the literature, only a system with a labeling mechanism has been presented. Our system, on the other hand, comes with a complete conveyor belt acting as an element that links the production line with the proposed system. This allows the possibility of embedding the proposed system into the production line of a marble factory. It has been observed that although the performance of the developed system is not as high as neural network based systems that use training, it could still be employed in industry when there is no available training set of samples. With this advantage, it provides an increase in the quality control standards of marble slab classification, since marbles are classified with an objective and uniform-through-time criterion.Automatic model generation and PLC-code implementation for interlocking policies in industrial robot cells工業(yè)機(jī)器人工作單元的PLC代碼自動(dòng)生成系統(tǒng)（固定工作任務(wù)）In industrial production lines, for example in the automotive industry, cells with multiple industrial robots are common. In such cells, each robot has to avoid running into static obstacles and when the robots work together in a shared space they must also avoid colliding with each other. Typically, the latter is enforced by manually implementing interlocks in programmable logic controllers (PLCs). This is a tedious, error-prone task that is a bottleneck in the development of production lines. The PLC-code being man-made also greatly complicates the maintenance and reconfiguration of such production lines. However, in industry today, a lot of development of robot cells is made offline in 3D simulation environments which enables the use of computers also for deciding and implementing the necessary coordination. This paper presents a method that makes use of information in a robot simulation environment in order to automatically extract finite state models. These models can be used to generate supervisors for ensuring that the deadlock situations that may arise as a consequence of the introduced interlocks are avoided. It is also possible to optimize the work cycle time for the cell. Finally, PLC-code to supervise the production cell can be automatically generated from the deadlock-free and possibly optimized system model. This approach results in a high flexibility in that the coordination function can be quickly reimplemented whenever necessary. A prototype implementation has been developed making use of a commercial 3D robot simulation tool, and a software tool for supervisor synthesis and code generation. The approach is general and should be possible to implement in most offline robot simulation tools.Reconfigurable control of robotized manufacturing cellsThis paper investigates the field of manufacturing system control. The addressed subject is indeed very fascinating, due to the importance that it has reached in the last decades both at research and industrial level. On the other hand, it seems to the author that most of the complexity intrinsic to the subject itself relies on the different meanings or levels of abstraction that both the terms “manufacturing system” and “control” may symbolize. The presented research aims to face the topic in a concrete fashion, i.e., by developing a control software system for a specific, although easy to be generalized, robotized manufacturing cell. Two different development methodologies, from the conceptual design to the actual implementation, of a cell control system are presented and compared. The former, based on ladder logic diagrams, for a PLC controlled manufacturing cell; the latter, based on object-oriented modeling and programming techniques, for a PC controlled manufacturing cell. The analysis has been conducted considering the internal and external requirements of the manufacturing system, mostly driven by the contemporary industrial need of reconfigurable control systems, largely acknowledged as the critical key to succeed in the new era of mass customization.機(jī)器人制造系統(tǒng)（單元）的自動(dòng)識(shí)別及反饋控制系統(tǒng)設(shè)計(jì)Velocity anisotropy of an industrial robotIndustrial robots are part of production systems and it is important to place them into the system according to their properties and behaviour. The information, obtained from the technical sheets of robots, about workspace (its dimensions and shape) is insufficient for designing the production system. The information about mobility is missing. To represent the behaviour of the robot in the workspace, velocity anisotropy of the robot is introduced and defined as the length of the shortest velocity ellipsoid axes, which can be constructed for any position of robot in its tool centre point. The position of a tool centre point is equivalent to the point in the workspace. A graphical representation of the 3D workspace with included velocity anisotropy is then performed and an example for a design of a robotised welding production system is given. In this example the benefits of the graphical representation of the workspace with included velocity anisotropy are presented and discussed.Real-time seam tracking for robotic laser welding using trajectory-based controlIn this paper a real-time seam tracking algorithm is proposed that can cope with the accuracy demands of robotic laser welding. A trajectory-based control architecture is presented, which had to be developed for this seam tracking algorithm. Cartesian locations (position and orientation) are added to the robot trajectory during the robot motion. In this way, sensor information obtained during the robot motion is used to generate the robot trajectory while moving. Experiments have been performed to prove the tracking capabilities of the seam tracking algorithm.激光焊接機(jī)器人的軌跡控制與實(shí)時(shí)焊縫跟蹤系統(tǒng)設(shè)計(jì)Motion navigation for arc welding robots based on feature mapping in a simulation environment基于工件特性圖像仿真環(huán)境的焊接機(jī)器人的動(dòng)作導(dǎo)航設(shè)計(jì)The efficiency of the off-line programming for the arc welding robots depends on the complexity of the workpieces and the welding experience of the technician. When the workpieces or fixtures are redesigned or the robot workstation layout is changed, the result of prior off-line programming cannot be reused. With the thought of CAD/CAPP/CAM integration, this paper presents a feature mapping algorithm, which converts the design features of the workpieces to the machining features of the seams. Then a motion navigation method based on feature mapping in a simulation environment is proposed. This method comprises initial position guiding and seam tracking. For initial position guiding, a motion path with the least energy consumption is generated based on the weighted optimal control; then the path is revised for avoiding obstacles by setting the path tags dynamically. For seam tracking, the seam is dispersed into discrete welding points; then the welding gun moves through each point according to the welding sequence. The method is implemented in the development of an off-line programming simulation system. Industrial cases of the welding robot workcell layout for automobile door frames show the method can make the off-line programming much more effective.Design of a teaching pendant program for a mobile shipbuilding welding robot using a PDA基于人工試教移動(dòng)式的造船廠船體焊接機(jī)器人開(kāi)發(fā)Teaching pendant is a handheld device by which a human can control a robot. The main functions of a teaching pendant are moving the robot, teaching it about the locations, running robot programs, and jogging the axes. A teaching pendant is usually connected to the robot by a cable. The cable connection and the size of the teaching pendant generally do not pose a problem when the robot controller is separate from the robot. However, a large teaching pendant connected by a cable is not suitable for a self-propelled mobile robot with an internal controller. This paper describes the communication network of a personal data assistant (PDA) as a wireless teaching pendant for a mobile shipbuilding welding robot with embedded controller system that welds and moves autonomously inside the double hull structure of a ship. A double hull is a closed structure that has only a few access holes. It is very difficult and dangerous to weld components inside a double hull structure because of fumes, poisonous gas, and high temperatures. Using a wireless teaching pendant has the following advantages: (1) there are no limits to the welding activities that can take place, (2) the safety level increases because no workers are in close proximity to the robot, (3) workers are far away from the dangerous environmental conditions, (4) it is possible to reduce the weight of the cable connected to the robot, and (5) it is possible to reduce the weight of the robot because of the reduced load of the teaching pendant and the cable. We demonstrate the functionality and performance capabilities of our wireless teaching pendant through field-testing experiments.Deve