毕业设计（论文）-三轴码垛机人结构及程序设计.docx

南通理工学院本科生毕业设计（论文）毕业设计（论文）题 目：三轴码垛机器人结构及程序设计副 标 题：学 生 姓 名：学 号：所 在 学 院：机械学院专 业、班 级：机械设计制造及自动化 A1406指 导 教 师：完 成 日 期：2018年 6 月 5 日PAGE \* MERGEFORMATI摘 要在如今机械行业自动化程度越来越高，工业机器人越来越受欢迎。由机器人代替人工使得产品加工更快，交货快的产品通常有可观的经济效益。智能化的管理和生产依然是一种趋势。因此，人们对工业机器人有更高的要求。在中国，码垛机器人的研究起步较晚，大多数发达国家在早几十年就进行了研究。由于技术封锁，在很长一段时间内我国都不能再相关行业推进和发展。本文完成了机器人的结构设计，提出了一种码垛机器人，分析了主体的基本特征，以满足需求。其次，完成了控制系统的设计，提出了一种基于控制系统的软件设计方法。本文对框架和程序系统的设计作了详细介绍，通过监视器的设置和伺服电机。利用PLC控制的小型发动机，以确保性能理想的输出高速脉冲，提高定位精度。与此同时，机器人的稳定性和安全性会变得更加强。第三，建立一个脉冲三轴坐标空间。在基准坐标系统中，仓库的定位和运行更为方便，且易于编程实现。最后，完成了系统软件的设计，可实时监控机器人的操作和存储信息，并通过通信连接、系统软件设计和编译，及时将信息发送给系统软件。关键词：码垛机器人，PLC，控制系统设计Abstract南通理工学院本科生毕业论文 PAGE II PAGE IIAbstractIn todays mechanized society, industrial robots are becoming more and more popular. Each repeated task is made by a robot. Products processed and fast delivered usually have considerable economic benefits. Therefore, people have higher requirements for industrial robots. The key to product design for fast, accurate and safe transportation is fence. In China, the research of palletizing robot started late, and most developed countries studied it. Due to technical blockade, there is a research level between vacuum robots and piles in developed countries. Therefore, it is very important for design and research to speed up our battery computers.In this paper, the structure design of the robot is completed, and a kind of rectangular screening, screening, robot, analysis of the basic features of the body, to meet the needs of the robot.Secondly, the battery of the breeder is designed to control the system. A software design based on control system is proposed. The design of the framework and program system is introduced in detail, through the setup of monitor and servo motor. A small engine controlled by PLC is used to ensure the high speed and positioning accuracy of the ideal output pulse and to ensure that the direction and structure of the positioning accuracy and efficiency are im