Design of Gantry Robot Control System for High-Efficiency Intelligent Factories

This dissertation, grounded in the application requirements of smart factories, systematically investigates the gantry-type suction-based handling robot, comprehensively covering the entire process from structural design and hardware selection to control system implementation. To address critical challenges such as multi-axis motion control, handling efficiency, and system integration, a PLC-based control system is proposed and realized. The study first analyzes the system requirements and the workflow of wooden board handling, and subsequently proposes a mechanical design scheme centered on a gantry structure. A control architecture integrating PLC, servo drives, and a Human-Machine Interface (HMI) is then established. On the hardware level, industrial PC, PLC, and servo drives are configured in accordance with application demands, ensuring the real-time performance and reliability of the control system. On the software level, hierarchical programming of the main program, functional modules, and variables is accomplished using Siemens TIA Portal, while the HMI interface is integrated to realize task dispatching, process monitoring, and fault alarming functions. To validate the effectiveness of the proposed approach, a control platform was constructed in a virtual environment and subjected to simulation testing. The results demonstrate that the system achieves high-precision coordinate monitoring and effective visualization, while stably performing automated pick-and-place and stacking operations of wooden boards. The system meets the requirements of smart factories in terms of handling efficiency, positioning accuracy, and operational stability, thereby confirming the feasibility of the designed control system.