物流機器人控制分析與設(shè)計

電氣自動化論文編號:ZD869    論文字數(shù):14423,頁數(shù):57

目 錄
摘要……………………………………………………………………………. . .……………..I
1  緒論……………………………………………………………………………. . .…………1
   1.1  工業(yè)機器人簡介……………………………………………………………..................1
        1.1.1 工業(yè)機器人的發(fā)展歷史………………………………………………………...1
        1.1.2 工業(yè)機器人的現(xiàn)狀及國內(nèi)外發(fā)展趨勢………………………………………...2
        1.1.3 工業(yè)機器人技術(shù)發(fā)展的意義…………………………………………………...3
   1.2  物流配送系統(tǒng)簡介……………………………………………………………..............4
        1.2.1 物流配送系統(tǒng)簡述……………………………………………………………...4
        1.2.2 物流配送系統(tǒng)特點……………………………………………………………...4
        1.2.3 研究物流配送系統(tǒng)的意義……………………………………………………...5
   1.3  任務(wù)簡介………………………………………………………………………………..5
2  系統(tǒng)硬件結(jié)構(gòu)……………………………………………………………………………...6
   2.1  物流配送系統(tǒng)組成結(jié)構(gòu)………………………………………………………………...6
   2.2  Profibus總線簡介…………………………………………………………………….....7
       2.2.1 現(xiàn)場總線的定義…………………………………………………………………..7
       2.2.2現(xiàn)場總線的優(yōu)點…………………………………………………………………...8
       2.2.3PROFIBUS總線橋………………………………………………………………....8
       2.2.4PROFIBUS-DP從站PCI卡……………………………………………………….9
   2.3  碼垛機硬件結(jié)構(gòu)…………………………………………………………………….....10
       2.3.1 OMRON CP1H PLC……………………………………………………………...11
       2.3.2 伺服電機及伺服驅(qū)動器………………………………………………………...17
       2.3.3步進電機……………………………………………………………………........19
3  碼垛機PLC控制程序解讀……………………………………………………………21
    3.1  CX-Progrmmer編程軟件 …………………………………………………………...21
    3.2  輸入、輸出點定義…………………………………………………………………. 22
    3.3  程序解讀……………………………………………………………………………..23
   4  碼垛機PLC控制程序改編………………………………………………………....30
      4.1  復(fù)位問題解決………………………………………………………………….…30
      4.2  原料庫出庫順序選擇改編………………………………………………………..31
5  總結(jié)………………………………………………………………………………………...41
致謝…………………………………………………………………………………………......42
參考文獻……………………………………………………………………………………….43
附錄1 ………………………………………………………………………………………….44
附錄 2…………………………………………………………………………………………..49

摘  要
 在21世紀，機器人技術(shù)將繼續(xù)是科學(xué)與技術(shù)發(fā)展的一個熱點。機器人的應(yīng)用領(lǐng)域在不斷擴大，機器人的種類日趨增多；機器人的性能不斷提高，并逐步向智能化方向發(fā)展。機器人技術(shù)的進一步發(fā)展必將對社會經(jīng)濟和生產(chǎn)力的發(fā)展產(chǎn)生更加深遠的影響。在未來的100年中。科學(xué)與技術(shù)的發(fā)展將會使機器人技術(shù)提高到一個更高的水平。機器人將成為人類多才多藝和聰明伶俐的“伙伴”，更加廣泛地參與人類的生產(chǎn)活動和社會活動；代替人從事各種生產(chǎn)作業(yè)，使人類從震重酌、重復(fù)單調(diào)的、有害健康和危險的生產(chǎn)作業(yè)中解放出來。隨著這一發(fā)展目標，以計算機信息系統(tǒng)為核心的物流配送系統(tǒng)應(yīng)運而生。自動化物流配送系統(tǒng)是由自動化倉儲設(shè)備、自動化物料分揀設(shè)備、物料運輸設(shè)備和計算機仿真控制系統(tǒng)等組成的自動化系統(tǒng)。為學(xué)生提供一個開放性的，創(chuàng)新性的和可參與性的實驗平臺，讓學(xué)生全面掌握現(xiàn)代物流技術(shù)的應(yīng)用開發(fā)和物流系統(tǒng)集成技術(shù)，幫助學(xué)生從系統(tǒng)整體角度去認識系統(tǒng)各組成部分，從而掌握現(xiàn)代物流系統(tǒng)的組成、功能及基本原理。自動化倉儲設(shè)備是我這次畢業(yè)設(shè)計的主要分析對象，其軟件采用歐姆龍PLC，編程方便，功能完善，擴展靈活，安裝調(diào)試容易。我的主要任務(wù)是明確碼垛機結(jié)構(gòu)、控制方式，復(fù)位、運行方式，及原料庫與成品庫中物件的出庫、入庫順序選擇。并對軟件進行一定程度上的改進。

關(guān)鍵詞：機器人技術(shù)、自動化物流配送系統(tǒng)、自動化倉儲設(shè)備、歐姆龍PLC、碼垛機

Abstract
   In the 21st century, robot technology will continue to be the development of science and technology a hotspot. The application of robots in the field constantly expanding, increasing the types of robots increased continuously improve the performance of robots, and gradually to the intelligent direction. The further development of robot technology is bound to the socio-economic development and productivity of more far-reaching implications. In the next 100 years. Science and technology will enable the development of robot technology to a higher level. Robots will become bright and versatile human "partners", a more extensive participation in the production of human activities and social activities instead of people engaged in various production, human discretion from the Chun-heavy, repetitive monotonous, unhealthy and dangerous Production freed.With this development goals, tcomputer information systems at the core of the distribution system came into being. Automated distribution system is automated warehousing equipment, materials automated sorting equipment, supplies, transportation equipment and computer simulation control system, and the composition of the automation system. to provide students with an open , The innovative and participatory and experimental platform to enable students to fully grasp the application of modern logistics development and logistics systems integration technology to help students from the system as a whole to understand the perspective of the various components of the system, thus gathered a group of modern logistics system Cheng, function and basic principles. Automated warehousing equipment that I graduated from the design of the main targets of its software using Omron PLC, programming convenience, with perfect functions, the expansion of flexible, easy to install debugging. My main task is clear-stacking machine structure, control, reduction and operation mode, and raw materials in the library and Cheng Pinku objects to the library, storage order of choice. And software to a certain degree of improvement.
 
 
Key words: Robot technology, logistics and distribution automation systems, automated warehousing equipment, Omron PLC, stacking machine