一种基于PLC的码垛机器人设计与研究

发布时间：2018-03-21 01:50

本文选题：直角坐标　切入点：码垛机器人　出处：《湖北工业大学》2017年硕士论文　论文类型：学位论文

【摘要】：由于仓储物流行业的发展十分迅速,自动化立体仓库得到了相当广泛的应用,与此同时,码垛机器人也得到了广泛的应用。随着堆垛技术的应用不断深入,大量人力劳动逐渐被机器人取代,一方面劳动生产率得到很大程度的提高,另一当面自动化与智能化成为了第三产业发展的主要方向。基于此,文中通过实际调研发现小型仓库与服务业之间存在一定空白市场,因此提出了基于PLC、伺服系统的小型直角坐标码垛机器人设计方案,并且能在服务领域里面广泛引入小型机器人。通过本文的研究能够实现以下几个方面的目标:首先,完成关于码垛机器人的结构设计,提出一种直角坐标码垛机器人结构,并且校核其主要零部件的基本功能特性是否满足要求;其次,完成关于码垛机器人的控制系统设计,提出一种基于系统软件设计的控制方式,通过组态监控、伺服电机驱动,同时详细描述设计构架与程序的编写。选择小型欧姆龙系PLC来进行电机控制,保证在高速脉冲输出和位置精度等性能方面都比较理想,保证认址精度和寻址效率得到改进且结构更加简易,同时保证系统运行的稳定、可维护性变得更强;再次,建立空间四轴脉冲坐标系,基于直角坐标,码垛机器人的关键点与立体仓库仓格位置使用伺服电机脉冲量进行表示,保证寻址与定位的时候更加方便,编程也更加容易;最后,完成系统软件设计的设计,进而能够实时监控机器人的运行情况以及仓储信息,使用组NB-Designer实现上述目标,通过通讯连接、系统软件设计编写等,及时地把信息传输至系统软件设计中。通过本文的研究能够为码垛机器人的研究和应用提供一定参考价值。
[Abstract]:Because of the rapid development of warehouse logistics industry, automated three-dimensional warehouse has been widely used, at the same time, palletizing robot has been widely used. A large number of human labor is gradually replaced by robots. On the one hand, labor productivity has been greatly improved; on the other hand, automation and intelligence have become the main direction of the development of the tertiary industry. In this paper, it is found that there is a blank market between small warehouse and service industry, so a design scheme of small rectangular coordinate palletizing robot based on PLC and servo system is proposed. And the small robot can be widely introduced into the service field. Through the research of this paper, the following objectives can be achieved: first, the structure design of the palletizing robot is completed, and a structure of the rectangular coordinate palletizing robot is proposed. And check whether the basic functional characteristics of its main parts meet the requirements. Secondly, complete the control system design about palletizing robot, put forward a control method based on system software design, through configuration monitoring, servo motor drive, At the same time, the design framework and program are described in detail. The small OMRON system PLC is selected for motor control, which ensures the high speed pulse output and position accuracy. To ensure that the accuracy and addressing efficiency are improved and the structure is simpler, at the same time to ensure the stability of the system, the maintainability becomes stronger. Thirdly, the establishment of space four-axis pulse coordinate system, based on rectangular coordinates, The key points of the palletizing robot and the position of the warehouse lattice are represented by the pulse quantity of the servo motor, which ensures that the addressing and positioning are more convenient and the programming is easier. Finally, the design of the system software is completed. Furthermore, it can monitor the running condition and storage information of the robot in real time, use group NB-Designer to achieve the above goal, through communication connection, system software design, etc. The information can be transmitted to the system software design in time. The research in this paper can provide some reference value for the research and application of palletizing robot.
【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

【参考文献】