哈爾濱工程大學(xué)本科生畢業(yè)設(shè)計I摘 要柔性制造系統(tǒng)（FMS）是集成了自動控制技術(shù)、人工智能、計算機(jī)語言編程組態(tài)監(jiān)控等現(xiàn)代化技術(shù)的生產(chǎn)設(shè)備。目前實踐教學(xué)作為教學(xué)過程中的一個環(huán)節(jié)，是工科院校培養(yǎng)跨世紀(jì)創(chuàng)造性人才必不可少的。為配合卓越工程師試點工作中的課程改革，結(jié)合教學(xué)研究任務(wù)，本設(shè)計針對學(xué)校實驗室的柔性制造系統(tǒng)中的立體倉庫環(huán)節(jié)進(jìn)行實驗前期準(zhǔn)備工作。本設(shè)計主要由三層 12 倉位的立體倉庫和四自由度碼垛機(jī)械手兩部分組成。其中碼垛機(jī)械手由機(jī)械傳動部分和電氣控制兩部分組成，電氣控制是由西門子 S7-200 CPU224XP 型可編程控制器(PLC)、步進(jìn)電機(jī)驅(qū)動器、開關(guān)電源、位置傳感器等器件組成。在設(shè)計過程中，不斷參閱相關(guān)電氣設(shè)計規(guī)范的資料，參照現(xiàn)有的碼垛機(jī)的工作模式及控制方法，最終完成 PLC 為控制核心的碼垛單元的 PLC 控制系統(tǒng)設(shè)計，并應(yīng)用組態(tài)軟件制作監(jiān)控仿真界面。關(guān)鍵詞：柔性制造系統(tǒng)；碼垛機(jī)；立體倉庫；PLC；組態(tài)哈爾濱工程大學(xué)本科生畢業(yè)設(shè)計IIABSTRACTA Flexible manufacturing systems (FMS) is the production equipment, which integrates the automatic control technology, artificial intelligence, computer programming language configuration and monitoring modern technology.The current practice of teaching as teaching process of a part is the training of cross century creative talents in Colleges of engineering is essential. As with outstanding engineer pilot work in the curriculum reform, combined with teaching and research tasks, the design for the school laboratory in the flexible manufacturing system of stereoscopic warehouse links in experimental preparations.This system is mainly composed of three layers of 12 positions of the warehouse and four degrees of freedom palletizing manipulator. The palletizing manipulator is composed of a mechanical drive and an electric control. The electrical control is formed by Siemens S7-200 CPU224XP programmable logic controller (PLC), stepper motor drive power modules, switching power supply, sensors and other devices.During the design process, the author refers a lot of the materials concerning the electrical design specification, refer to the existing palletizer work mode and control method, finally completed the PLC as control core Palletizing unit PLC control system design, and the application of configuration software production control simulation interface.Key words: Flexible manufacturing systems; Palletizer; Stereoscopic warehouse; PLC; Configuration哈爾濱工程大學(xué)本科生畢業(yè)設(shè)計3目 錄摘要 ?????????????????????????????????? IAbstract ??????????????????????????????? II第 1 章 緒論 ?????????????????????????????? 11.1 課題背景 ???????????????????????????? 11.2 碼垛機(jī)的概述 ?????????????????????????? 11.2.1 碼垛機(jī)在國外的研究現(xiàn)狀 ??????????????????? 11.2.2 碼垛機(jī)在國內(nèi)的研究現(xiàn)狀 ??????????????????? 21.2.3 碼垛機(jī)的發(fā)展趨勢 ?????????????????????? 31.3 課題的主要研究內(nèi)容 ??????????????????????? 3第 2 章 碼垛機(jī)的總體方案設(shè)計 ???????????????????? 42.1 碼垛機(jī)的總體框圖 ???????????????????????? 42.2 碼垛機(jī)的結(jié)構(gòu)組成 ???????????????????????? 52.3 碼垛機(jī)的控制方案 ???????????????????????? 62.3.1 碼垛機(jī)的控制功能要求 ???????????????????? 62.3.2 碼垛機(jī)的控制方案確定 ???????????????????? 62.3.3 碼垛機(jī)的定位方案確定 ???????????????????? 72.4 本章小結(jié) ???????????????????????????? 9第 3 章 碼垛機(jī)的硬件設(shè)計選型及介紹 ???????????????? 103.1 電動機(jī)的計算選取 ???????????????????????? 103.1.1 碼垛機(jī)的已知參數(shù) ????????????????????? 103.1.2 根據(jù)已知參數(shù)對電動機(jī)的選型計算 ?????????????? 103.2 步進(jìn)電機(jī)驅(qū)動器的介紹 ?????????????????????? 113.3 可編程控制器的選型及 I/O 分配 ?????????????????? 133.3.1 可編程控制器的選型 ???????????????????? 133.3.2 可編程控制器的 I/O 分配 ?????????????????? 133.4 導(dǎo)軌的形式介紹 ????????????????????????? 143.5 滾珠絲杠的介紹 ????????????????????????? 153.6 本章小結(jié) ???????????????????????????? 15第 4 章 碼垛機(jī)的軟件設(shè)計 ?????????????????????? 16哈爾濱工程大學(xué)本科生畢業(yè)設(shè)計44.1 編程軟件介紹及使用 ??????????????????????? 164.2 碼垛機(jī)的 PLC 程序設(shè)計 ?????????????????????? 184.2.1 碼垛機(jī)的工作流程 ????????????????????? 184.2.2 碼垛機(jī)的軟件設(shè)計 ????????????????????? 204.3 本章小結(jié) ???????????????????????????? 37第 5 章 組態(tài)王仿真畫面的設(shè)計 ???????????????????? 385.1 組態(tài)王監(jiān)控軟件介紹 ??????????????????????? 385.2 組態(tài)王監(jiān)控軟件仿真設(shè)計 ????????????????????? 385.2.1 建立組態(tài)軟件與 PLC 之間的通訊連接 ????????????? 395.2.2 組態(tài)畫面及監(jiān)控元素的設(shè)計 ????????????????? 405.3 本章小結(jié) ???????????????????????????? 45結(jié)論 ????????????????????????????????? 46參考文獻(xiàn) ??????????????????????????????? 47致謝 ????????????????????????????????? 49附錄 ????????????????????????????????? 50