Análisis e implementación de un sistema inalámbrico con protocolo de comunicación UDP entre el robotino, brazo robótico y la mesa de trabajo para realizar procesos de paletización.

Abstract

The objective of this titling work was to analyze and implement a Wireless system with the User Datagram Protocol (UDP) between the Robotino, Robotic Arm and the Worktable to carry out palletizing processes. For the process a router was used that allowed wireless communication, a Programmable Logic Controller (PLC) for sequence automation, sensors to activate object detection signals, valves to move pallets and a Robot Interface Box to work with the robotic arm. The system consists of a control panel with s PLC, which allows communication with UDP protocol with the Robotino, thus the exchange of messages in the form of datagram. The messages are sent only if sensors located on different points of the worktable emit a detection signal. The sequence begins when the Robotino goes to the point of warehouses, picks up and take the pallet to the entry point of the RV2SDV Robotic Arm, which completes palletizing process and takes the pallet to its exit point (RV2SDB exit), from where Robotino takes it to the exit point of the system. At each point of warehouses, entrance and exit of the Robotic Arm and exit of the system there are sensors that detect the pallet and emit an activation signal so that the established sequence is carried out. Additionally, a man - machine interface (HMI) is always monitoring every step of the process. In conclusion, the UDP protocol allowed the robots to communicate in an optimal way, so that processes could be carried out automatically and with Wireless communication. It is recommended to develop more projects with the thefts used in such a way that their structure and applications can be explored in depth.