PLC邮件分拣机器人控制系统设计+CAD图纸
本论文是针对邮件分拣机器人的控制系统进行设计的。通过西门子的PLC和相关的传感器对整个机器人进行控制，让其完成邮件信息的识别和邮件的搬运任务。本课题设计的是一种通用机器人，在实际生产过程中，可以对机器人运动的关节参数进行修改，从而满足不同场合和不同要求。23980
毕业论文关键词：邮件分拣；机器人；西门子PLC；控制系统；
Abstract
Mail sorting robot is a highly automated mail sorting apparatus, it can replace the manual sorting the mail to complete the work, which not only saves manpower, but also improves the efficiency of mail sorting. Meanwhile it can reduce the error rate of manual sorting messages generated. With the rapid development of the logistics industry, the mail sorting efficiency is raised higher requirements. Nowadays, there are various automated mail sorting apparatus on the market, including cross belt mail sorting machines, circular distributed mail sorting machine. These sorting devices are mainly to store flat and relatively light weight of the mail. However, mail sorting robot appears to fill the vacancy for the boxed mail sorting, it can be used to sort the quality of a large mail box or cartons.
Its appearance will make mail sorting easier, faster.
This paper is for design of mail sorting robot's control system. By Siemens PLC and associated sensors control the robot, it allowed complete the task of identifying mail messages and carrying out the mail. This project is about a design of universal robot, in the actual production process, the robot joint parameters can be modified to meet different occasions and different requirements.
Keywords: mail sorting; robot; Siemens PLC; Control System
目录
一 绪论1
1.1 开展课题的依据1
1.2邮件分拣方式2
1.3发展现状2
1.4 邮件分拣机器人控制工作原理4
二 邮件分拣机器人的结构尺寸确定及负载估算4
2.1机器人结构尺寸的确定4
2.2机器人承受负载的估算5
三 邮件分拣机器人各关节的负载计算及电机的选择5
3.1肘关节的负载计算及电机选择5
3.2肩关节的负载计算及电机选择6
3.3底座电机的选择7
3.4机械手部夹持电机的选择7
四 谐波减速器的设计与计算7
4.1谐波齿轮传动机构的介绍7
4.2谐波减速器的特点8
4.3谐波减速器的参数的确定9
五 控制系统硬件的配置10
5.1电器元件设备的选择10
5.1.1光电编码器的工作原理及选择10
5.1.2接近开关的工作原理及选择11
5.1.3行程开关的工作原理及选择13
5.1.4条形码扫描器14
5.2 PLC的控制对象16
5.3 PLC系统的配置17
5.3.1西门子的PLC控制系统简介17
5.3.2 PLC机型的选择17
5.3.3 S7-300PLC18
5.3.4 S7-300PLC各个模块的选择19
5.4 PLC的数字量I/O配置表22
优尔 电气元件接线图23
6.1 PLC输入端电气元件的连接23
6.2 驱动器与步进电机的接线图24
6.3 电气元件与PLC的接线原理图25
七 邮件分拣机器人的控制流程25