搬运机器人控制软件开发

论文编号:DQ011  论文字数:13252,页数:39 附任务书，开题报告，文献综述，外文翻译

摘   要
 随着社会的发展和科学技术的进步，以计算机信息系统为核心的物流配送系统应运而生，与传统的搬运系统比较，高度自动化的搬运配送系统以其反应迅速，管理集中，柔性高的特点，对加强供应商的竞争力，提高其经济效益具有明确的现实意义，它的产生和发展必将给厂家的产品生产、制造、搬运、运输等过程的实现和管理带来一场新的革命。
 本设计主要是要实现搬运机器人能够从原料库里搬出原料并且放入传送带，从传送带里拿出成品放入原料库，其中包括复位，精确的判断原料所在的位置等等。
 搬运系统是由搬运机器人、传送带和计算机仿真控制系统等组成的自动化系统。此次设计建立在搬运机器人配送系统平台上，利用原有资料对其硬件及软件作深入分析，从系统整体角度去认识系统各组成部分，从而掌握现代搬运系统的组成、功能及基本原理， 并对软件部分作进一步完善，使其性能更优越。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，也因此使该系统具有不断改进完善的潜力。
 
 
关键词：计算机信息系统、自动化搬运系统、搬运机器人、欧姆龙PLC

Abstract
With the social development and progress of science and technology, computer information systems at the core of the logistics distribution system came into being, with the traditional comparison of the handling system, highly automated distribution system for its handling responsive, centralized management, flexible and high to strengthen the competitiveness of suppliers, with a clear economic benefits to improve their practical significance, it is bound to the emergence and development of products to manufacturers, manufacturing, handling, transportation and management of the realization of the process of bringing a new revolution .
This design is to achieve the handling robot can move out of raw materials from raw materials and Curitiba Add conveyors, material from the conveyor belt out of the Treasury Add raw materials, including the reduction, determine the precise location of raw materials and so on.
Transportation system is handling robots, conveyors and control systems, such as computer simulation of the automation system components. Experimental establishment of the distribution system in the handling robot platform, the use of existing information on its hardware and software for in-depth analysis, from the system point of view to understand the overall system components in order to master modern transportation system, functions and basic principle part of the software to further improve its performance better. The use of its software Omron PLC, programming convenience functions, the expansion of flexible, easy installation, so the system has the potential to continuously improve and perfect.

Key words: Computer Information Systems、handling robot handling system、Omron PLC

目  录
摘   要 I
Abstract II
1  绪  论 1
1.1  机器人的发展简史 1
1.2  搬运机器人配送系统特点 3
1.3  研究搬运机器人的意义 3
1.4  本论文要完成的主要任务 4
2  搬运机器人配送系统的总体结构 5
2.1  搬运机器人的总体结构 5
2.2  搬运机器人的硬件结构 7
2.2.1   搬运机器人结构 7
2.2.2  PLC 8
2.2.3  伺服电机 8
2.2.4  步进电机 10
2.2.5  限位光电开关 12
2.2.6  驱动器 13
3   搬运机器人PLC控制程序 14
3.1  PLC驱动器 14
3.1.1  PLC概述 14
3.1.2  PLC的特点 14
3.1.3  PLC的应用领域 15
3.2  CX-Programmer编程软件 16
3.3  输入、输出点定义 17
3.4  程序实现 18
3.4.1 复位程序 18
3.4.2  出库程序 20
3.4.3  入库程序 22
4  存在问题 25
4.1  选取信号输入器件、输出执行元件、显示器件等 25
4.2  PLC的抗干扰问题 25
结论与展望 26
致  谢 27
参考文献 28
附录一   I/O地址分配表 29
附录二  梯形图 33