本文關(guān)鍵詞： 藥品灌裝 可編程控制器 工業(yè)機(jī)器人 搬運(yùn) 順序控制　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】：國(guó)內(nèi)在藥品灌裝系統(tǒng)在搬運(yùn)包裝流程中常采用人工作業(yè)的方式,效率低下,勞動(dòng)強(qiáng)度大,完成質(zhì)量不受控制。隨著人力資源的缺乏以及自動(dòng)控制和工業(yè)機(jī)器人技術(shù)的發(fā)展,國(guó)內(nèi)也在大力推動(dòng)智能制造、產(chǎn)業(yè)升級(jí)、機(jī)器換人已是大勢(shì)所趨。工業(yè)機(jī)器人可以代替日益昂貴的人力,還可以提高產(chǎn)品質(zhì)量與工作效率,降低產(chǎn)品成本,提高了設(shè)備的利用率。在這種前提下,探索控制工業(yè)機(jī)器人來(lái)完成藥品搬運(yùn)包裝流程的實(shí)現(xiàn)對(duì)其它行業(yè)生產(chǎn)線智能改造具有重要的現(xiàn)實(shí)指導(dǎo)意義。本文設(shè)計(jì)的工業(yè)機(jī)器人搬運(yùn)包裝單元以PLC(可編程控制器)作為控制核心,各傳感器與其它單元通信數(shù)據(jù)作為輸入信號(hào),氣缸、吸盤、電磁閥、步進(jìn)驅(qū)動(dòng)系統(tǒng)、工業(yè)機(jī)器人作為執(zhí)行部件,與藥品灌裝系統(tǒng)其它單元緊密對(duì)接,可完成藥瓶裝盒、包裝盒加蓋、包裝盒貼標(biāo)工作。本文首先分析了國(guó)內(nèi)藥品包裝流程的現(xiàn)狀,指出了其生產(chǎn)流程存在的問題,提出了本課題研究的主要內(nèi)容和目標(biāo)以及研究方法和要解決的關(guān)鍵問題。然后闡述了整個(gè)搬運(yùn)單元的硬件架構(gòu),討論了可編程控制系統(tǒng)的基本結(jié)構(gòu),確定了各組成部件的選型結(jié)果及技術(shù)參數(shù),設(shè)計(jì)了相關(guān)元件的接線圖、氣路圖。接著本文基于結(jié)構(gòu)化編程和順序控制的思想,使用GX Developer軟件設(shè)計(jì)了PLC的控制程序,解決了PLC對(duì)各流程的順序控制、PLC之間通信及機(jī)器人、升降臺(tái)等設(shè)備的復(fù)位控制等關(guān)鍵問題。通過RT ToolBox2軟件對(duì)工業(yè)機(jī)器人進(jìn)行離線編程,設(shè)計(jì)了機(jī)器人的搬運(yùn)程序,解決了使用標(biāo)簽垛盤進(jìn)行貼標(biāo)、對(duì)不同藥瓶的貼標(biāo)控制等關(guān)鍵問題。最后對(duì)PLC和機(jī)器人程序的仿真測(cè)試,對(duì)搭建的的實(shí)驗(yàn)平臺(tái)的氣動(dòng)系統(tǒng)、驅(qū)動(dòng)系統(tǒng)、工業(yè)機(jī)器人及整個(gè)系統(tǒng)的進(jìn)行測(cè)試,測(cè)試結(jié)果表明,該控制設(shè)計(jì)能達(dá)到預(yù)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.
【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;TP273

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本文編號(hào)：1510837