本文選題：碼垛機(jī)器人　切入點(diǎn)：控制系統(tǒng)　出處：《深圳大學(xué)》2017年碩士論文

【摘要】：隨著工業(yè)自動(dòng)化技術(shù)的進(jìn)一步成熟與發(fā)展,碼垛機(jī)器人在水泥、包裝、物流等行業(yè)已經(jīng)得到了廣泛的應(yīng)用,并且在工業(yè)自動(dòng)化產(chǎn)業(yè)的升級(jí)發(fā)揮著重要作用。近年來,由于市場(chǎng)環(huán)境不斷變化和工業(yè)4.0的提出與發(fā)展,人們更加希望碼垛機(jī)器人能夠在更大程度上代替人工碼垛,與此同時(shí),機(jī)器人相關(guān)行業(yè)都需要進(jìn)行產(chǎn)業(yè)更新?lián)Q代,緊跟時(shí)代的步伐,朝著智能化、自動(dòng)化的方向發(fā)展。作為工業(yè)機(jī)器人中特殊用途之一的碼垛機(jī)器人,目前正成為相關(guān)企業(yè)進(jìn)行產(chǎn)業(yè)升級(jí)的不可或缺的重要組成部分。然而,市場(chǎng)上存在的大部分碼垛機(jī)器人多以關(guān)節(jié)型機(jī)器人為主,其價(jià)格相對(duì)較貴,而且不易于維護(hù),局限性較大,所以這類機(jī)器人很難被大多數(shù)資金有限的中小型企業(yè)所接受。因此開展對(duì)碼垛機(jī)器人的研究對(duì)推動(dòng)碼垛機(jī)器人更廣泛地走向市場(chǎng)化具有重要的意義。針對(duì)這個(gè)問題,本文研究開發(fā)了一款經(jīng)濟(jì)實(shí)用型的四自由度直角坐標(biāo)紙箱碼垛機(jī)器人。本文主要內(nèi)容如下:首先,對(duì)碼垛機(jī)器人的控制要求、工作環(huán)境以及工作方式進(jìn)行了詳細(xì)分析;對(duì)交流伺服系統(tǒng)和直流伺服系統(tǒng)以及PLC控制系統(tǒng)和單片機(jī)控制系統(tǒng)進(jìn)行了對(duì)比分析,設(shè)計(jì)了四自由度直角坐標(biāo)碼垛機(jī)器人的控制系統(tǒng)總體方案。其次,根據(jù)控制系統(tǒng)的總體方案對(duì)交流伺服電機(jī)、運(yùn)動(dòng)模組以及PLC進(jìn)行選型,并給出了一般理論計(jì)算與分析,并選擇了合理的電機(jī)控制方式位置控制方式,給出了PLC的外部接線圖以及主控制線路圖和現(xiàn)場(chǎng)施工圖。接著,以Z軸交流伺服控制系統(tǒng)為例,在Simulink環(huán)境下建立了Z軸子系統(tǒng)的仿真模型,對(duì)Z軸伺服系統(tǒng)進(jìn)行仿真分析,得到了預(yù)期的結(jié)果,表明了碼垛機(jī)械手的運(yùn)行速度在我們預(yù)先設(shè)計(jì)的范圍內(nèi)。然后,根據(jù)PLC軟件設(shè)計(jì)的一般方法,進(jìn)行I/O地址分配,還設(shè)計(jì)系統(tǒng)的控制面板,并且對(duì)整個(gè)控制系統(tǒng)進(jìn)行了PLC模塊化程序設(shè)計(jì),對(duì)各個(gè)部分的程序進(jìn)行了詳細(xì)解釋說明,在PLC編程軟件GX-works2上對(duì)各部分梯形圖程序進(jìn)行了模擬調(diào)試、仿真,表明設(shè)計(jì)的程序是合理的。最后,還設(shè)計(jì)了碼垛機(jī)器人控制系統(tǒng)的人機(jī)交互界面,給出了系統(tǒng)的實(shí)際碼垛效果圖,達(dá)到了預(yù)期的控制要求。
[Abstract]:With the further development of industrial automation technology, palletizing robot has been widely used in cement, packaging, logistics and other industries, and plays an important role in the upgrading of industrial automation industry.In recent years, due to the changing market environment and the development of industry 4.0, people hope that the palletizing robot can replace manual palletizing to a greater extent. At the same time, the robot-related industries need to be updated.Keep up with the pace of the times, towards the direction of intelligence, automation.As one of the special applications of industrial robots, palletizing robot is becoming an indispensable part of industrial upgrading in related enterprises.However, most of the palletizing robots in the market are mainly jointed robots, which are expensive, difficult to maintain and limited, so they are difficult to be accepted by most small and medium-sized enterprises with limited funds.Therefore, the research on palletizing robot is of great significance to push the palletizing robot more widely towards marketization.In order to solve this problem, an economical and practical Cartesian carton palletizing robot with four degrees of freedom is developed in this paper.The main contents of this paper are as follows: firstly, the control requirements, working environment and working mode of the palletizing robot are analyzed in detail;The AC servo system, DC servo system, PLC control system and single-chip microcomputer control system are compared and analyzed, and the overall control system scheme of 4-DOF rectangular coordinate palletizing robot is designed.Secondly, according to the overall scheme of the control system, the AC servo motor, motion module and PLC are selected, and the general theoretical calculation and analysis are given, and a reasonable motor control mode is selected.The external wiring diagram, main control circuit diagram and site construction diagram of PLC are given.Then, taking the Z-axis AC servo control system as an example, the simulation model of Z-axis servo system is established under the Simulink environment, and the simulation analysis of Z-axis servo system is carried out, and the expected results are obtained.It shows that the speed of palletizing manipulator is within the range of our design.Then, according to the general method of PLC software design, I / O address assignment, control panel of the system are designed, and the whole control system is designed by PLC modularization program, and the program of each part is explained in detail.The trapezoidal diagram program is simulated and debugged on the PLC programming software GX-works2, and the simulation results show that the program is reasonable.Finally, the man-machine interaction interface of the palletizing robot control system is designed, and the actual palletizing effect diagram of the system is given, which meets the expected control requirements.
【學(xué)位授予單位】：深圳大學(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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