發(fā)布時(shí)間：2018-03-21 01:50

  本文選題：直角坐標(biāo)　切入點(diǎn)：碼垛機(jī)器人　出處：《湖北工業(yè)大學(xué)》2017年碩士論文　論文類型：學(xué)位論文

【摘要】：由于倉(cāng)儲(chǔ)物流行業(yè)的發(fā)展十分迅速,自動(dòng)化立體倉(cāng)庫(kù)得到了相當(dāng)廣泛的應(yīng)用,與此同時(shí),碼垛機(jī)器人也得到了廣泛的應(yīng)用。隨著堆垛技術(shù)的應(yīng)用不斷深入,大量人力勞動(dòng)逐漸被機(jī)器人取代,一方面勞動(dòng)生產(chǎn)率得到很大程度的提高,另一當(dāng)面自動(dòng)化與智能化成為了第三產(chǎn)業(yè)發(fā)展的主要方向。基于此,文中通過(guò)實(shí)際調(diào)研發(fā)現(xiàn)小型倉(cāng)庫(kù)與服務(wù)業(yè)之間存在一定空白市場(chǎng),因此提出了基于PLC、伺服系統(tǒng)的小型直角坐標(biāo)碼垛機(jī)器人設(shè)計(jì)方案,并且能在服務(wù)領(lǐng)域里面廣泛引入小型機(jī)器人。通過(guò)本文的研究能夠?qū)崿F(xiàn)以下幾個(gè)方面的目標(biāo):首先,完成關(guān)于碼垛機(jī)器人的結(jié)構(gòu)設(shè)計(jì),提出一種直角坐標(biāo)碼垛機(jī)器人結(jié)構(gòu),并且校核其主要零部件的基本功能特性是否滿足要求;其次,完成關(guān)于碼垛機(jī)器人的控制系統(tǒng)設(shè)計(jì),提出一種基于系統(tǒng)軟件設(shè)計(jì)的控制方式,通過(guò)組態(tài)監(jiān)控、伺服電機(jī)驅(qū)動(dòng),同時(shí)詳細(xì)描述設(shè)計(jì)構(gòu)架與程序的編寫。選擇小型歐姆龍系PLC來(lái)進(jìn)行電機(jī)控制,保證在高速脈沖輸出和位置精度等性能方面都比較理想,保證認(rèn)址精度和尋址效率得到改進(jìn)且結(jié)構(gòu)更加簡(jiǎn)易,同時(shí)保證系統(tǒng)運(yùn)行的穩(wěn)定、可維護(hù)性變得更強(qiáng);再次,建立空間四軸脈沖坐標(biāo)系,基于直角坐標(biāo),碼垛機(jī)器人的關(guān)鍵點(diǎn)與立體倉(cāng)庫(kù)倉(cāng)格位置使用伺服電機(jī)脈沖量進(jìn)行表示,保證尋址與定位的時(shí)候更加方便,編程也更加容易;最后,完成系統(tǒng)軟件設(shè)計(jì)的設(shè)計(jì),進(jìn)而能夠?qū)崟r(shí)監(jiān)控機(jī)器人的運(yùn)行情況以及倉(cāng)儲(chǔ)信息,使用組NB-Designer實(shí)現(xiàn)上述目標(biāo),通過(guò)通訊連接、系統(tǒng)軟件設(shè)計(jì)編寫等,及時(shí)地把信息傳輸至系統(tǒng)軟件設(shè)計(jì)中。通過(guò)本文的研究能夠?yàn)榇a垛機(jī)器人的研究和應(yīng)用提供一定參考價(jià)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.
【學(xué)位授予單位】：湖北工業(yè)大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP242

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