关键词: 铁精粉, 精密称量, 自动化, 机器人, PLC控制, 振动出粉, 误差补偿

Abstract: The determination of total iron content in iron ore serves as a crucial basis for quality as‐ sessment，where redox titration analysis requires iron concentrate weighing precision of 200±50 mg. Cur‐ rent manual weighing processes face challenges including low accuracy and insufficient efficiency. This pa‐ per proposes an automated precision weighing technology for micro iron concentrate based on robotic sys‐ tems，accompanied by corresponding software development. Firstly，an automated precision weighing sys‐ tem was constructed by integrating Siemens PLC，ABB robot and Mettler one-ten-thousandth electronic balance. Secondly，a multi-device collaborative hierarchical real-time communication scheme based on Profinet and RS-232 was designed，incorporating a dynamic data interaction system between PLC and electronic balance，along with a PLC-driven robot control system. Thirdly，robot end-effector bottle grip‐ ping and vibration powder discharge strategies were developed，combined with an improved D-H parame‐ ter model for robot motion path planning. Finally，automated precision weighing experiments with 200 mg iron concentrate were conducted using the established hardware-software system，achieving an average de‐ viation of +0.71 mg，standard deviation of 2.13 mg，and average duration of 37.43 s. This research pro‐ vides an automated solution for high-precision and efficient micro iron concentrate weighing.