药品灌装系统机器人搬运单元的控制设计

发布时间：2018-02-14 13:43

本文关键词： 药品灌装可编程控制器工业机器人搬运顺序控制　出处：《湖北工业大学》2017年硕士论文　论文类型：学位论文

【摘要】：国内在药品灌装系统在搬运包装流程中常采用人工作业的方式,效率低下,劳动强度大,完成质量不受控制。随着人力资源的缺乏以及自动控制和工业机器人技术的发展,国内也在大力推动智能制造、产业升级、机器换人已是大势所趋。工业机器人可以代替日益昂贵的人力,还可以提高产品质量与工作效率,降低产品成本,提高了设备的利用率。在这种前提下,探索控制工业机器人来完成药品搬运包装流程的实现对其它行业生产线智能改造具有重要的现实指导意义。本文设计的工业机器人搬运包装单元以PLC(可编程控制器)作为控制核心,各传感器与其它单元通信数据作为输入信号,气缸、吸盘、电磁阀、步进驱动系统、工业机器人作为执行部件,与药品灌装系统其它单元紧密对接,可完成药瓶装盒、包装盒加盖、包装盒贴标工作。本文首先分析了国内药品包装流程的现状,指出了其生产流程存在的问题,提出了本课题研究的主要内容和目标以及研究方法和要解决的关键问题。然后阐述了整个搬运单元的硬件架构,讨论了可编程控制系统的基本结构,确定了各组成部件的选型结果及技术参数,设计了相关元件的接线图、气路图。接着本文基于结构化编程和顺序控制的思想,使用GX Developer软件设计了PLC的控制程序,解决了PLC对各流程的顺序控制、PLC之间通信及机器人、升降台等设备的复位控制等关键问题。通过RT ToolBox2软件对工业机器人进行离线编程,设计了机器人的搬运程序,解决了使用标签垛盘进行贴标、对不同药瓶的贴标控制等关键问题。最后对PLC和机器人程序的仿真测试,对搭建的的实验平台的气动系统、驱动系统、工业机器人及整个系统的进行测试,测试结果表明,该控制设计能达到预期要求。
[Abstract]:In the domestic drug filling system, manual operation is often used in the process of handling and packaging. The efficiency is low, the labor intensity is high, and the quality of finished work is not controlled. With the lack of human resources and the development of automatic control and industrial robot technology, China is also vigorously promoting intelligent manufacturing, industrial upgrading and machine replacement. Industrial robots can take the place of increasingly expensive manpower, improve product quality and work efficiency, and reduce product costs. Improved the utilization of the equipment. Under this condition, It is very important for other industries to realize the intelligent transformation of drug handling and packaging process by controlling industrial robot. This paper designs a PLC (Programmable Control) for industrial robot packing unit. As the control core, Each sensor communicates data with other units as input signals, cylinders, suckers, solenoid valves, stepper drive systems, industrial robots as executive parts, tightly docked with other units of the drug filling system, can complete cartridges, This paper first analyzes the current situation of the domestic drug packaging process and points out the problems existing in the production process. This paper puts forward the main contents and objectives of the research, the research methods and the key problems to be solved. Then, the hardware structure of the whole moving unit is expounded, and the basic structure of the programmable control system is discussed. The selection results and technical parameters of each component are determined, and the connection diagram and gas circuit diagram of related components are designed. Then, based on the idea of structured programming and sequential control, the control program of PLC is designed by using GX Developer software. The key problems such as communication between PLC and robot, reset control of hoist and so on are solved. The off-line programming of industrial robot is carried out by RT ToolBox2 software, and the handling program of robot is designed. The key problems such as label labeling and label control of different bottles are solved. Finally, the simulation test of PLC and robot program, the pneumatic system and driving system of the experimental platform are carried out. The test results of the industrial robot and the whole system show that the control design can meet the expected requirements.
【学位授予单位】：湖北工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242;TP273

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