基于工业机器人的码垛搬运系统设计与实现.docxVIP

本科生毕业论文（设计）题目：基于工业机器人的码垛搬运系统设计与实现 学 院 电子信息工程学院 学科门类 工学 专 业 自动化学 号 2013442132 姓 名 王冰涵指导教师 郝雷 2017年5月4日基于工业机器人的码垛搬运系统设计与实现摘　　要近几年来，随着国家人口老龄化程度的上升和从事体力劳动人数不断下降，廉价劳动力越来越少，越来越多的工厂面临人工成本不断上涨的危机，所以大多数工厂用机器人码垛来替代人工码垛。根据自动控制原理以及机器人运动学针对机器人码垛控制系统设计的问题使用西门子触摸屏、S7-1200以及库卡机器人等硬件设施，实现了工业机器人的自动码垛功能。码垛搬运系统采用PLC（可编程逻辑控制器）和库卡机器人组成上、下位机的控制系统。上位机主要进行数据管理、逻辑控制等；下位机主要负责系统对工件操作,实现码垛。上下位机之间的通信用ProfiNet通信协议进行数据传输。该系统还采用TP700建立人机界面，方便用户控制机器人。实验表明，该系统能够实现自动码垛搬运的功能，性能比较稳定并且界面设计合理。该控制系统使机器人进行码垛工作时，操作简单，可适用不同种类的码垛物品，适用性强。关键词：码垛；库卡机器人；PLC；ProfiNet通信Design and Realization of Palletizing System Based on Industrial RobotABSTRACTIn recent years, with the rise of the national population aging and the decline in the number of manual labor, cheap labor is less and less, more and more enterprises are facing the crisis of laborcosts. It has become a trend, with robotic palletizing instead of artificial palletizing. According to the principle of automatic control and robot kinematics for the robot palletizing control system design problems using Siemens touch screen, S7-1200 and KUKA robots and other hardware facilities,it can achieve the industrial robot automatic palletizing.Palletizing system using PLC (programmable logic controller) and KUKA robot composes on an upper and a lower computer control system. The functions of the upper computer are logic control and information management, ect; the lower computer is responsible for the operation of the goods to achieve palletizing. The upper computer and the lower computer communicate through ProfiNet can transmit data. TP700 was used as human-computer interaction interface to convenient user to control the robot. Experiment shows that the system can achieve automatic palletizing, the performance is relatively stable and the interface design is reasonable. When the robot works in the palletizing, the operation is simple, applicable to different types of goods. It is strong practicality.Key words: palletizing;