基于PLC控制的面粉碼垛機(jī)設(shè)計(jì)【碼垛機(jī)械手】,碼垛機(jī)械手,基于,PLC,控制,面粉,碼垛,設(shè)計(jì),機(jī)械手 附錄1 1 引言 帶式輸送機(jī)又稱膠帶輸送機(jī)，輸送設(shè)備廣泛應(yīng)用于家電、電子、電器、機(jī)械、煙草、注塑、郵電、印刷、食品等各行各業(yè)，物件的組裝、檢測(cè)、調(diào)試、包裝及運(yùn)輸?shù)?。線體輸送可根據(jù)工藝要求選用：普通連續(xù)運(yùn)行、節(jié)拍運(yùn)行、變速運(yùn)行等多種控制方式；線體因地制宜選用：直線、彎道、斜坡等線體形式。 輸送設(shè)備包括：皮帶輸送機(jī)也叫帶式輸送機(jī)或膠帶輸送機(jī)等，是組成有節(jié)奏的流水作業(yè)線所不可缺少的經(jīng)濟(jì)型物流輸送設(shè)備。皮帶機(jī)按其輸送能力可分為重型皮帶機(jī)如礦用皮帶輸送機(jī)，輕型皮帶機(jī)如用在電子塑料，食品輕工，化工醫(yī)藥等行業(yè)。皮帶輸送機(jī)具有輸送能力強(qiáng)，輸送距離遠(yuǎn)，結(jié)構(gòu)簡(jiǎn)單易于維護(hù)，能方便地實(shí)行程序化控制和自動(dòng)化操作。運(yùn)用輸送帶的連續(xù)或間歇運(yùn)動(dòng)來輸送100KG以下的物品或粉狀、顆狀物品，其運(yùn)行高速、平穩(wěn)，噪音低，并可以上下坡傳送。 碼垛機(jī)是將已裝入容器的紙箱，按一定排列碼放在托盤、棧板（木質(zhì)、塑膠）上，進(jìn)行自動(dòng)堆碼，可堆碼多層，然后推出，便于叉車運(yùn)至倉庫儲(chǔ)存。本設(shè)備采用PLC+觸摸屏控制，實(shí)現(xiàn)智能化操作管理，簡(jiǎn)便、易掌握?？纱蟠蟮販p少勞動(dòng)力和降低勞動(dòng)強(qiáng)度。碼垛機(jī)是輸送機(jī)輸送來的料袋、紙箱或是其它包裝材料按照客戶工藝要求的工作方式自動(dòng)堆疊成垛，并將成垛的物料進(jìn)行輸送的設(shè)備。自動(dòng)碼垛機(jī)是機(jī)、電一體化高新技術(shù)產(chǎn)品，中、低位碼垛機(jī)可以滿足中低產(chǎn)量的生產(chǎn)需要。可按照要求的編組方式和層數(shù)，完成對(duì)料袋、膠塊、箱體等各種產(chǎn)品的碼垛。最優(yōu)化的設(shè)計(jì)使得垛形緊密、整齊。 2 特點(diǎn)及原理 2.1 特點(diǎn) 帶式輸送機(jī)是煤礦最理想的高效連續(xù)運(yùn)輸設(shè)備，與其他運(yùn)輸設(shè)備（如機(jī)車類）相比，具有輸送距離長(zhǎng)、運(yùn)量大、連續(xù)輸送等優(yōu)點(diǎn)，而且運(yùn)行可靠，易于實(shí)現(xiàn)自動(dòng)化和集中化控制，尤其對(duì)高產(chǎn)高效礦井，帶式輸送機(jī)已成為煤炭開采機(jī)電一體化技術(shù)與裝備的關(guān)鍵設(shè)備。帶式輸送機(jī)主要特點(diǎn)是機(jī)身可以很方便的伸縮，設(shè)有儲(chǔ)帶倉，機(jī)尾可隨采煤工作面的推進(jìn)伸長(zhǎng)或縮短，結(jié)構(gòu)緊湊，可不設(shè)基礎(chǔ)，直接在巷道底板上鋪設(shè)，機(jī)架輕巧，拆裝十分方便。當(dāng)輸送能力和運(yùn)距較大時(shí)，可配中間驅(qū)動(dòng)裝置來滿足要求。根據(jù)輸送工藝的要求，可以單機(jī)輸送，也可多機(jī)組合成水平或傾斜的運(yùn)輸系統(tǒng)來輸送物料。帶式輸送機(jī)廣泛地應(yīng)用在冶金、煤炭、交通、水電、化工等部門，是因?yàn)樗哂休斔土看?、結(jié)構(gòu)簡(jiǎn)單、維修方便、成本低、通用性強(qiáng)等優(yōu)點(diǎn)。帶式輸送機(jī)還應(yīng)用于建材、電力、輕工、糧食、港口、船舶等部門。 碼垛機(jī)結(jié)構(gòu)特點(diǎn)：中、低位碼垛機(jī)主要由壓平輸送機(jī)、緩?fù)］斔蜋C(jī)、轉(zhuǎn)位輸送機(jī)、托盤倉、托盤輸送機(jī)、編組機(jī)、推袋裝置、碼垛裝置、垛盤輸送機(jī)組成。其結(jié)構(gòu)設(shè)計(jì)優(yōu)化，動(dòng)作平穩(wěn)可靠。碼垛過程完全自動(dòng)，正常運(yùn)轉(zhuǎn)時(shí)無須人工干預(yù)，具有廣泛的適用范圍。 2.2 工作原理 膠帶輸送機(jī)主要由膠帶、傳動(dòng)滾筒、拉緊裝置、托輥機(jī)架以及傳動(dòng)裝置等幾部分組成。膠帶繞經(jīng)兩端滾筒后，用膠帶卡子或硫化方法，將兩頭接在一起，使之成為閉環(huán)結(jié)構(gòu)。膠帶由上、下托輥支承著，由拉緊裝置將膠帶拉緊，具有一定的張力。當(dāng)主動(dòng)滾筒被電動(dòng)機(jī)帶動(dòng)而旋轉(zhuǎn)時(shí)，借助于主動(dòng)滾筒與膠帶之間的摩擦力帶著膠帶連續(xù)運(yùn)轉(zhuǎn)，從而將裝到膠帶上的貨載從卸載滾筒2處卸載。 碼垛機(jī)平板上工件符合棧板要求的一層工件，平板及工件向前移動(dòng)直至棧板垂直面。上方擋料桿下降，另三方定位擋桿起動(dòng)夾緊，此時(shí)平板復(fù)位。各工件下降到棧板平面，棧板平面與平板底面相距10mm,棧板下降一個(gè)工件高度。往復(fù)上述直到棧板堆碼達(dá)到設(shè)定要求。 2.3 傳動(dòng)原理特點(diǎn) ⑴膠帶輸送機(jī)的牽引力是通過傳動(dòng)滾筒與膠帶之間的摩擦力來傳遞的，因此必須將膠帶用拉緊裝置拉緊，使膠帶在傳筒滾筒分離處具有一定的初張力。 ⑵膠帶與貨載一起在托輥上運(yùn)行。膠帶既是牽引機(jī)構(gòu)，又是承載機(jī)構(gòu)，貨載與膠帶之間沒有相對(duì)運(yùn)動(dòng)，消除了運(yùn)行中膠帶與貨載的摩擦阻力。由于托輥內(nèi)裝有滾動(dòng)軸承，膠帶與托輥之間是滾動(dòng)摩擦，因此運(yùn)行阻力大大減小，從而減少了功率的消耗，增大了運(yùn)輸距離。對(duì)于一臺(tái)膠帶輸送機(jī)，其牽引力傳遞能力的大小，決定于膠帶的張力、膠帶在傳動(dòng)滾筒上的圍包角和膠帶與傳動(dòng)滾筒之間的摩擦系數(shù)。要保證膠帶輸送機(jī)的膠帶在傳動(dòng)滾筒上不打滑，正常運(yùn)行，在生產(chǎn)實(shí)踐中要根據(jù)不同情況采取相應(yīng)的措施。 提高牽引力的傳遞能力可從以下幾方面入手： ⑴增大拉緊力（初張力)。膠帶輸送機(jī)在運(yùn)行中，膠帶要伸長(zhǎng)，造成牽引力下降，所以要根據(jù)情況，利用拉緊裝置適當(dāng)?shù)貙⒛z帶拉緊，增大膠帶張力，以提高牽引力。 ⑵增大摩擦系數(shù)。其具體措施是：保護(hù)好傳動(dòng)滾筒上覆蓋的木襯或橡膠等襯墊，以增大摩擦系數(shù)，另一方面要少出水煤，預(yù)防摩擦系數(shù)減少。 ⑶增加圍包角。井下膠帶輸送機(jī)由于工作條件差，所需牽引力大，故多采用雙滾筒傳動(dòng)，以增大圍包角。 3 帶式輸送機(jī) 3.1 技術(shù)優(yōu)勢(shì) 首先是它運(yùn)行可靠。在許多需要連續(xù)運(yùn)行的重要的生產(chǎn)單位，如發(fā)電廠煤的輸送，鋼鐵廠和水泥廠散裝物料的輸送，以及港口內(nèi)船舶裝卸等均采用帶式輸送機(jī)。如在這些場(chǎng)合停機(jī)，其損失是巨大的。必要時(shí)，帶式輸送機(jī)可以一班接一班地連續(xù)工作。 帶式輸送機(jī)動(dòng)力消耗低。由于物料與輸送帶幾乎無相對(duì)移動(dòng)，不僅使運(yùn)行阻力?。s為刮板輸送機(jī)的1/3-1/5），而且對(duì)貨載的磨損和破碎均小，生產(chǎn)率高。這些均有利于降低生產(chǎn)成本。 帶式輸送機(jī)的輸送線路適應(yīng)性強(qiáng)又靈活。線路長(zhǎng)度根據(jù)需要而定．短則幾米，長(zhǎng)可達(dá)10km以上?？梢园惭b在小型隧道內(nèi)，也可以架設(shè)在地面交通混亂和危險(xiǎn)地區(qū)的上空。 根據(jù)工藝流程的要求，帶式輸送機(jī)能非常靈活地從一點(diǎn)或多點(diǎn)受料．也可以向多點(diǎn)或幾個(gè)區(qū)段卸料。當(dāng)同時(shí)在幾個(gè)點(diǎn)向輸送帶上加料（如選煤廠煤倉下的輸送機(jī)）或沿帶式輸送機(jī)長(zhǎng)度方向上的任一點(diǎn)通過均勻給料設(shè)備向輸送帶給料時(shí)，帶式輸送機(jī)就成為一條主要輸送干線。 帶式輸送機(jī)可以在貯煤場(chǎng)料堆下面的巷道里取料，需要時(shí)，還能把各堆不同的物料進(jìn)行混合。物料可簡(jiǎn)單地從輸送機(jī)頭部卸出，也可通過犁式卸料器或移動(dòng)卸料車在輸送帶長(zhǎng)度方向的任一點(diǎn)卸料。 3.2 設(shè)計(jì)要點(diǎn) 1、工作環(huán)境、狀況和條件 需要考慮每天運(yùn)轉(zhuǎn)的時(shí)間、工作頻率、帶式輸送機(jī)的服務(wù)年限、給料以及卸料的方法。 工作環(huán)境、狀況：環(huán)境溫度、露天或室內(nèi)、環(huán)保要求、移動(dòng)或固定、伸縮要求。 2、輸送線路和輸送帶的問題 需要詳細(xì)考慮輸送線路的尺寸，包括：傾角、最大長(zhǎng)度、提升高度；直線段、曲線段的尺寸；連接尺寸等。 輸送帶：最大的垂度要求、模擬摩擦阻力系數(shù)、摩擦系數(shù)、安全系數(shù)。 3、物料的性質(zhì)和輸送量 需要考慮物料的具體性質(zhì)，包括：松散密度、安息角、物料的粒度、最大塊度情況、物料的濕度、物料的磨損性、粘結(jié)性和摩擦系數(shù)。輸送量，料流均勻時(shí)能夠直接達(dá)到的輸送量，料流不均勻時(shí)可以考慮給出料流量的基本統(tǒng)計(jì)數(shù)據(jù)。[ 4 碼垛機(jī) 4.1 控制系統(tǒng) 主要控制元件，包括可編程控制器、變頻調(diào)速控制器、接近開關(guān)，按鈕開關(guān)和接線端子等均采用品質(zhì)一流的產(chǎn)品，確保了系統(tǒng)硬件的可靠性和長(zhǎng)壽命。高品質(zhì)的硬件和由專家設(shè)計(jì)的專門控制軟件相結(jié)合，實(shí)現(xiàn)了系統(tǒng)高度的自動(dòng)化。完善的安全聯(lián)鎖機(jī)制，可以對(duì)設(shè)備和操作人員提供保護(hù)。圖形顯示觸摸屏使碼垛機(jī)操作簡(jiǎn)單，故障診斷容易，同時(shí)方便了檢修和維護(hù)。 4.2 主要用途 機(jī)器人碼垛機(jī)可以集成在任何生產(chǎn)線中，為生產(chǎn)現(xiàn)場(chǎng)提供智能化、機(jī)器人化、網(wǎng)絡(luò)化，可以實(shí)現(xiàn)啤酒、飲料和食品行業(yè)多種多樣作業(yè)的碼垛物流，廣泛應(yīng)用于紙箱、塑料箱、瓶類、袋類、桶裝、膜包產(chǎn)品及灌裝產(chǎn)品等。配套于三合一灌裝線等，對(duì)各類瓶罐箱包進(jìn)行碼垛。碼垛機(jī)自動(dòng)運(yùn)行分為自動(dòng)進(jìn)箱、轉(zhuǎn)箱、分排、成堆、移堆、提堆、進(jìn)托、下堆、出垛等步驟。 碼垛機(jī)技術(shù)特點(diǎn)： －低位進(jìn)箱，占用空間少，生產(chǎn)能力大； －整機(jī)PLC控制，全自動(dòng)運(yùn)行； －適應(yīng)多種垛型及瓶型，調(diào)整方便； －多處安全保護(hù)，可帶觸摸屏控制； －采用優(yōu)質(zhì)輸送鏈分段傳動(dòng)，輸出段可任意加長(zhǎng)； －電機(jī)、氣缸傳動(dòng)及控制全部采用進(jìn)口名牌元件； －盡量采用304材料，整機(jī)美觀大方； －特別適應(yīng)于碼熱收縮膜包裝的產(chǎn)品。 附錄2 1 Introduction Also known as belt conveyor belt conveyor , conveyor equipment widely used in home appliances , electronics, electrical appliances, machinery , tobacco , injection molding , telecommunications, printing, food and other industries , object assembly, testing, debugging , packaging and transportation. Conveying line body chosen according to process requirements : a variety of control ordinary continuous operation, beats running , running gear , etc. ; line body chosen according to local conditions : straight lines, curves , slopes and other wire forms. Transportation equipment , including : belt conveyor is also called conveyor or belt conveyor , etc., is composed of rhythmic flow line indispensable economic conveying equipment. Conveyor belt according to their ability to be divided into heavy as mine belt conveyor belt conveyor belt light as plastics used in electronics , food and light industry, chemical and pharmaceutical industries. Belt conveyor has a transmission capacity , transmission distance, the structure is simple and easy to maintain , easy to implement procedures to control and automation. The use of continuous or intermittent motion conveyor belt to transport 100KG following items or powder, teeth -like objects , which runs high-speed, stable, low noise , and can send more than downhill . The palletizer is loaded carton container arranged by a certain code on pallets, pallets ( wood , plastic ), and automatic stacking , the stacking multiple layers, and then introduced to facilitate forklift shipped to warehouses for storage . This equipment uses PLC + touch screen control , intelligent operation management , simple and easy to learn. Can greatly reduce labor and reduce labor intensity. Palletizer is conveyors to the bag , carton or other packaging material in accordance with the requirements of the customer process works automatically stacked into a pile , and will become the stack of materials for equipment transportation . Automatic stacking machine is mechanical, electrical integration of high-tech products, in low stacking machine to meet production needs in low yield. Grouping manner and in accordance with the number of layers required to complete the bag , plastic blocks , box palletizing and other products . Optimized design makes the stack tightly , neatly. 2 Characteristics and Principles 2.1 Features Coal belt conveyor is ideal for efficient continuous transport equipment , compared with other transport equipment ( such as locomotive class ) , has the advantage of long distance transportation , large volume, continuous conveyor , etc., and reliable operation, easy to automate and centralize control , especially for high-yield and efficient mine , coal mining conveyor has become mechatronics technology and equipment critical equipment . The main feature is the body belt conveyor can easily scalable with belt storage , tail can advance with the coalface elongation or shortening , compact, not to set the foundation , laid directly on the roadway floor , rack lightweight, very easy disassembly . When the transmission capacity and transport distance is large, can be equipped with an intermediate drive to meet the requirements. According transport process requirements , can be stand-alone transport , but also multi- level synthesis unit or inclined transportation system to transport materials . Belt Conveyor is widely used in metallurgy, coal , transport , utilities, chemical and other sectors , because it has a transmission capacity, simple structure, easy maintenance , low cost , versatility , etc. . Conveyor is also used in building materials , electricity, light industry, food , ports , shipbuilding and other sectors. Stacking machine structural characteristics : in low stacking machine is mainly composed of flattened conveyor, slow stop conveyor , transfer conveyor , pallet warehouse , pallet conveyors, grouping machines, pushing bag device , palletizing equipment , transport pallets machine. Its structural design optimization, smooth and reliable action. Palletizing process is completely automatic , without human intervention during normal operation , has a wide range of applications. 2.2 Work Mainly by the belt conveyor belt , drive roller , tensioning device , roller racks and gear parts and other components . After the tape around the ends of the drum by using tape clamp or curing method, the two together to make it a closed loop structure. Tape from the upper and lower supporting rollers , the tape tensioning the tensioning means , with a certain tension. When the driving motor rotates the drum is driven by means of drive rollers and the friction between the tape with a tape of continuous operation , which will be installed on the carrier tape to unload cargo unloaded from the drum 2 . Layer of the workpiece and the workpiece flat on the pallet stacking machine meets the requirements of flat workpieces move forward until the pallet vertical . Top of the gauge rod drop , another tripartite positioning clamping lever start , then flat reset. Each piece down to the pallet flat , flat underside and away from the plane pallet 10mm, drop a workpiece pallet height . Back and forth until the pallet stacking above reaches the set requirements. 2.3 Transmission Principle Features ⑴ traction belt conveyor is through friction between the drive pulley and the belt to pass , it must be the tape taut with tension device , so that the tape has a certain tension in the early separation of the transfer drum roller . ⑵ tape together with cargo runs on rollers . Tape as the drag mechanism , and a loading mechanism , there is no relative movement between the cargo and the tape , the tape running and eliminating the friction cargo . Since built with roller bearings, rolling friction between the tape and rollers, thus greatly reducing the running resistance , thereby reducing power consumption , increasing the transport distance . For a conveyor belt, the size of its traction transmission capacity , the decision of the coefficient of friction between the belt tension on the drive belt drum circumference tape wrap angle and the drive roller . To ensure the belt conveyor belt does not slip on the drive roller , normal operation , to take appropriate measures in the production practice under different circumstances . Improve traction transmission capacity available from the following aspects: ⑴ increasing tension force ( initial tension ) . Belt Conveyor in operation, the tape to stretch , resulting in decreased traction , so depending on the circumstances , the use of the tape tensioning device properly tensioned belt tension is increased to improve traction. ⑵ increase the coefficient of friction. The specific measures are: to protect the well -covered wood lining the drive roller or rubber pads to increase the coefficient of friction , on the other hand less water coal, preventing friction coefficient decreases. ⑶ increase Wai corners . Because mine belt conveyor poor working conditions , the required traction , so many dual drum drive to increase Wai corners . 3 Conveyor 3.1 Technical advantages The first is its reliable operation. In many important production units require continuous operation , such as the transport of coal power plants conveying bulk materials steel mills and cement plants , as well as loading and unloading of ships in the harbor , are using belt conveyors . On these occasions , such as shutdown , the loss is huge. When necessary, the belt conveyor can take a class to a group of continuous work . Conveyor low power consumption . Due to the material and almost no relative movement of the conveyor belt , not only the running resistance is small ( about 1/3-1/5 scraper conveyor ) , but also for cargo wear and crushing are small , high productivity . These are conducive to lower production costs. Transport conveyor line adaptable and flexible. Line length according to the need. As short as a few meters , length up to 10km or more. Can be installed in a small tunnel above the ground can also be set up in the traffic chaos and danger areas. According to process requirements , can be very flexible conveyor from the feed point or points by . You can also multi-point or a few sections to discharge . When both the feed ( coal preparation plant conveyor position under ) or at several points along the length direction of the conveyor belt according to any point on the conveyor through the feed device to a uniform feed conveyor , belt conveyor machine has become a major transport trunk . You can stockpile conveyor roadway below reclaimer at coal storage field , when needed , but also the various different materials mixed heap . Material may be simply discharged from the head of the conveyor , can also be moved or plow unloader unloading vehicle longitudinal direction at any point of the discharge conveyor . 3.2 Design Points 1, the working environment , conditions and conditions Need to consider the time of day operation , the operating frequency , the service life of the belt conveyor , feeding and unloading methods . Work environment conditions : ambient temperature, outdoor or indoor , environmental requirements, mobile or fixed , telescopic requirements. 2 , transmission lines and conveyor problems Requires detailed consideration of the size of the transfer line , comprising: a tilt angle , the maximum length , lifting height ; straight segment , the size of the curve segment ; connection size. Conveyor belt: the maximum sag requirements simulation of friction coefficient , friction coefficient, the safety factor. 3 , the nature and amount of material transported The specific nature of the materials to be considered , including : bulk density , angle of repose , the material particle size , the largest block , the humidity of the material , abrasion resistance, adhesion and coefficient of friction material. Throughput throughput , even when the material flow can be directly reached , when the material can be considered given the uneven flow of basic statistical data material flows. 4 Palletizer 4.1 Control System The main control components, including programmable controllers, variable speed controller , proximity switches , buttons, switches and terminals , are using top quality products to ensure the system hardware reliability and long life. High- quality hardware and designed by experts specialized control software combined to achieve a high degree of automation systems . Improve safety interlock mechanism to provide protection for equipment and operating personnel . Touch-screen graphical display makes stacking machine is simple, easy troubleshooting , and facilitate the inspection and maintenance . 4.2 The main purpose Robot palletizer can be integrated in any production line for the production site to provide intelligence , robotics , network , can achieve palletizing logistics beer , beverage and food industries varied operations , widely used in cardboard boxes, plastic containers, bottles class , bags , barrels , film coated products and filling products. Supporting the triple filling lines, all kinds of bottles carry bags palletizing . Automatically run into automatic palletizer into the box , transfer boxes , sub- row piles , shifting pile, heap put into care, under the pile , the pile and other steps . Palletizer Features: - Low into the box , take up less space , large production capacity ; - The machine PLC control , automatic operation ; - To adapt to a variety of stack -type and bottle-type , easy to adjust ; - Multiple security protection, with touch screen controls ; - Made of high quality conveyor splitter , the output section can any longer ; - Motor , cylinder transmission and control of all imported brand-name components ; - Try using 304 material , nice machine ; - Especially suitable for shrink film packaging product code .... - 12 -