四自由度直角坐标码垛机器人控制系统研究

发布时间：2018-04-04 16:05

本文选题：码垛机器人　切入点：控制系统　出处：《深圳大学》2017年硕士论文

【摘要】：随着工业自动化技术的进一步成熟与发展,码垛机器人在水泥、包装、物流等行业已经得到了广泛的应用,并且在工业自动化产业的升级发挥着重要作用。近年来,由于市场环境不断变化和工业4.0的提出与发展,人们更加希望码垛机器人能够在更大程度上代替人工码垛,与此同时,机器人相关行业都需要进行产业更新换代,紧跟时代的步伐,朝着智能化、自动化的方向发展。作为工业机器人中特殊用途之一的码垛机器人,目前正成为相关企业进行产业升级的不可或缺的重要组成部分。然而,市场上存在的大部分码垛机器人多以关节型机器人为主,其价格相对较贵,而且不易于维护,局限性较大,所以这类机器人很难被大多数资金有限的中小型企业所接受。因此开展对码垛机器人的研究对推动码垛机器人更广泛地走向市场化具有重要的意义。针对这个问题,本文研究开发了一款经济实用型的四自由度直角坐标纸箱码垛机器人。本文主要内容如下:首先,对码垛机器人的控制要求、工作环境以及工作方式进行了详细分析;对交流伺服系统和直流伺服系统以及PLC控制系统和单片机控制系统进行了对比分析,设计了四自由度直角坐标码垛机器人的控制系统总体方案。其次,根据控制系统的总体方案对交流伺服电机、运动模组以及PLC进行选型,并给出了一般理论计算与分析,并选择了合理的电机控制方式位置控制方式,给出了PLC的外部接线图以及主控制线路图和现场施工图。接着,以Z轴交流伺服控制系统为例,在Simulink环境下建立了Z轴子系统的仿真模型,对Z轴伺服系统进行仿真分析,得到了预期的结果,表明了码垛机械手的运行速度在我们预先设计的范围内。然后,根据PLC软件设计的一般方法,进行I/O地址分配,还设计系统的控制面板,并且对整个控制系统进行了PLC模块化程序设计,对各个部分的程序进行了详细解释说明,在PLC编程软件GX-works2上对各部分梯形图程序进行了模拟调试、仿真,表明设计的程序是合理的。最后,还设计了码垛机器人控制系统的人机交互界面,给出了系统的实际码垛效果图,达到了预期的控制要求。
[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.
【学位授予单位】：深圳大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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