中文摘要：

针对生产备料车间人工拾取火焰切割板材过程中劳动强度大、效率低下等问题,开发了一套板材下料自动拾取机器人系统。该机器人系统采用三坐标龙门式结构,利用伺服电机驱动三坐标直线导轨模组;上位工控机利用C语言和Matlab编程分别实现G代码向图形与坐标的转化与板材重心坐标值的计算,通过OPC Server与下位机PLC S7-300进行通信,将切割后的各板材重心坐标值通信至下位机PLC;PLC根据重心坐标位置控制三坐标伺服电机的运动,可保证拾取过程的平稳,减小晃动,实现对板材的连续精确拾取。该机器人控制系统是一种高度自动化的系统,可提高企业生产效率,适应于现代企业的生产要求。

英文摘要：

In the plate blanking workshop, the flame cutting plates were picked by manual operation, it was high labor intensity and had low efficiency. In order to solve this problem, an automatic picking robot system for flame cutting plates was designed and developed. The robot adopted three coordinate gantry structure, servo motors was used to drive three axis linear guide rail module. C language was used to transform the G code to the graphics and coordinate in control system, and Matlab programming was used to get the value of the center of gravity of each plate which was transmitted to the slave computer SIEMENS S7-300PLC. OPC Server was applied to realize the communication of the computer and the slave computer. The movement of servo motors was controlled by the PLC according to the value of gravity center of each plate, which could ensure the stability and accuracy of pickup process and reduce shaking. This highly automatic robot system was suitable to the manufacturing requirements of modern enterprise and improved the production efficiency.