物流机器人控制分析与设计

论文编号:ZD869    论文字数:14423,页数:57

摘  要
 在21世纪，机器人技术将继续是科学与技术发展的一个热点。机器人的应用领域在不断扩大，机器人的种类日趋增多；机器人的性能不断提高，并逐步向智能化方向发展。机器人技术的进一步发展必将对社会经济和生产力的发展产生更加深远的影响。在未来的100年中。科学与技术的发展将会使机器人技术提高到一个更高的水平。机器人将成为人类多才多艺和聪明伶俐的“伙伴”，更加广泛地参与人类的生产活动和社会活动；代替人从事各种生产作业，使人类从震重酌、重复单调的、有害健康和危险的生产作业中解放出来。随着这一发展目标，以计算机信息系统为核心的物流配送系统应运而生。自动化物流配送系统是由自动化仓储设备、自动化物料分拣设备、物料运输设备和计算机仿真控制系统等组成的自动化系统。为学生提供一个开放性的，创新性的和可参与性的实验平台，让学生全面掌握现代物流技术的应用开发和物流系统集成技术，帮助学生从系统整体角度去认识系统各组成部分，从而掌握现代物流系统的组成、功能及基本原理。自动化仓储设备是我这次毕业设计的主要分析对象，其软件采用欧姆龙PLC，编程方便，功能完善，扩展灵活，安装调试容易。我的主要任务是明确码垛机结构、控制方式，复位、运行方式，及原料库与成品库中物件的出库、入库顺序选择。并对软件进行一定程度上的改进。

关键词：机器人技术、自动化物流配送系统、自动化仓储设备、欧姆龙PLC、码垛机

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
目 录
摘要……………………………………………………………………………. . .……………..I
1  绪论……………………………………………………………………………. . .…………1
   1.1  工业机器人简介……………………………………………………………..................1
        1.1.1 工业机器人的发展历史………………………………………………………...1
        1.1.2 工业机器人的现状及国内外发展趋势………………………………………...2
        1.1.3 工业机器人技术发展的意义…………………………………………………...3
   1.2  物流配送系统简介……………………………………………………………..............4
        1.2.1 物流配送系统简述……………………………………………………………...4
        1.2.2 物流配送系统特点……………………………………………………………...4
        1.2.3 研究物流配送系统的意义……………………………………………………...5
   1.3  任务简介………………………………………………………………………………..5
2  系统硬件结构……………………………………………………………………………...6
   2.1  物流配送系统组成结构………………………………………………………………...6
   2.2  Profibus总线简介…………………………………………………………………….....7
       2.2.1 现场总线的定义…………………………………………………………………..7
       2.2.2现场总线的优点…………………………………………………………………...8
       2.2.3PROFIBUS总线桥………………………………………………………………....8
       2.2.4PROFIBUS-DP从站PCI卡……………………………………………………….9
   2.3  码垛机硬件结构…………………………………………………………………….....10
       2.3.1 OMRON CP1H PLC……………………………………………………………...11
       2.3.2 伺服电机及伺服驱动器………………………………………………………...17
       2.3.3步进电机……………………………………………………………………........19
3  码垛机PLC控制程序解读……………………………………………………………21
    3.1  CX-Progrmmer编程软件 …………………………………………………………...21
    3.2  输入、输出点定义…………………………………………………………………. 22
    3.3  程序解读……………………………………………………………………………..23
   4  码垛机PLC控制程序改编………………………………………………………....30
      4.1  复位问题解决………………………………………………………………….…30
      4.2  原料库出库顺序选择改编………………………………………………………..31
5  总结………………………………………………………………………………………...41
致谢…………………………………………………………………………………………......42
参考文献……………………………………………………………………………………….43
附录1 ………………………………………………………………………………………….44
附录 2…………………………………………………………………………………………..49