1794-IJ2现货欢迎来电咨询~！！

国内的包装生产线在发展初期一般只能完成物料包装，后续的搬运工作则由搬运工人来完成。随着产量的日益扩大，传统的人工搬运方式显然无法满足需求，码垛机械的出现为这一问题提供了有效的解决方案。
　　码垛机可以集成在生产线中，使生产现场变得智能化，可以实现饮料、食品、日化等行业各种作业的码垛物流，为企业改善工作条件，减轻个人体力劳动，减员增效起到了关键作用。目前主流的控制系统采用 PLC+ 机械手的方式，对整条生产线的末端产品进行整理、堆叠、整垛输出等。
　　目前市场上主流的码垛线为单线输送系统，码垛能力在 30~40 箱 / 分，具体的码垛能力视货物而异。本项目中设计的码垛线为双线输送，码垛能力能达到 60 箱 / 分，主要应用在食品行业。该码垛线通过 PLC 控制将两条生产线上输送过的产品分别输送到对应的堆叠区，且通过触摸屏可设定不同的层数采用不同的堆叠方式，如第 1 层按方式 1 堆叠，第 2 层按方式 2 堆叠，码垛方式灵活。
　　2 工艺要求
　　码垛线分为 A、B 两线，每条线均由以下部分组成：入口输送带 1、入口输送带 2、入口输送带 3、分离电机、转向电磁阀、转向滚筒、堆叠输送带，出口输送带等;A、 B 两线共用栈板供应系统和左右栈板输送带等设备。码垛线装备实物图片如图 1 所示。
货物由入口输送带1进入，经过三个入口缓存输送带，输送到分离电机处;分离电机分离后根据需要确认是否转向 ( 如需转向则转向气缸动作 ) 并计数，PLC 进行判断产品是否已完成一列。达到一列后控制推杆动作，将货物整平。此时，PLC 发出 DO 信号给 ABB 机械手 (ABB 机械手与 PLC 通过硬接线连接 )，机械手动作抓取已完成码垛的一列产品;当完成一垛后，堆叠电机动作，将已完成堆垛的货物整垛输出;然后栈板供应启动，为缺少栈板的堆叠区提供栈板，依次循环实现持续码垛。其工艺流程如图 2 所示。
　3 自动化平台选型
　　鉴于该码垛机 I/O 点数较多 (DI 为 75，DO 为 40)，以及电控柜空间限制的需求，在系统选型时采用西门子 S7-200 SMART PLC 作为主控制器，因为 S7-200 SMART 具备 60I/O 的大点数 CPU 以及高密度扩展模块，并且模块体积紧凑，能够有效满足以上需求。码垛线上的转向气缸、滚筒等动作频繁，高达 20~30 次 / 分，故采用晶体管输出类型，外接中间继电器驱动大负载。在HMI选型上，单线系统选用7寸屏即能满足要求，但对于双线控制系统，需要显示的信息更多，最终选用 10 寸屏。同时，屏上集成的以太网接口与 S7-200 SMART 无缝连接，编程调试、设备通讯都很方便。电控系统配置如附表所示。
4.1 结构化模块设计
　　由于码垛线控制点数较多，程序较大，而且各部分功能较为分明，所以在软件设计时，采用结构化编程的理念可使程序结构更加分明。程序设计分为主程序和子程序两部分，主程序中 AB 两线运行各自调用相应子程序。子程序主要有：开机初始化程序、各设备手动控制程序、入口计数子程序、整列推杆初始化子程序、自动运行子程序、堆叠方式处理子程序、故障报警子程序、系统复位及数量清零等子程序组成，如图 3 所示。

SIEMENS 6ES7 322-1HH01-0AA0 Output Module 6ES7-322-1HH01-0AA0 XLNT

SIEMENS CPU 6DD1607-0AA0 6DD16070AA0 FM 458 FM458

ProSoft Technology MVI56-ADM Communications Module Pro Soft MVI56ADM

SIEMENS 6SN1113-1AA00-0CA0 MODULE 6SN11131AA000CA0

SIEMENS SIMODRIVE 6SC6110-0GB00

SIEMENS 6FC5203-OAF22-1AA0

Allen-Bradley SLC 500 Output Module_1746-OW8 Ser A_1746OW8_1746-0W8_17460W8

Allen Bradley VersaView 1500W 6180W-15KSXPH Operator Interface Panel

ABB 3BSE042235R1 PP845, , 3BSE042235R1,

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A06B-6079-H291 A06B6079H291 FANUC SERVO AMPLIFIER 1 PCS

800MHz Oscilloscope 2CH 5GSa/s 128M Memory Depth 8.4'' TFTLCD 800x600 USB 5082C

SIEMENS 6DD1-670-0AF0 USPP 6DD16700AF0

ALLEN BRADLEY SA3100-B030-AN-L6R USPP SA3100B030ANL6R

ALLEN BRADLEY 6181-AFBCBCZZZ USPP 6181AFBCBCZZZ

KODAK 1350503 NSFP 1350503

GIDDINGS & LEWIS 401-34438-20 NSFP 4013443820

YOKOGAWA CR122-2/H1/W2 NSFP CR1222H1W2

ORMEC SAC-D08M/A USPP SACD08MA

Siemens 6ES5-318-8MA12 NSFP 6ES53188MA12

SIEMENS 6ES5 436-7LA11 6ES54367LA11

SIEMENS S5 6ES5 777-1BC00 Bus Terminal

Siemens Interface Module 6ES5 312-5CA11 37350

Siemens 6ES7 223-1PH20-0XA0 6ES7223-1PH20-0XA0

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Genuine Cisco WIC-4ESW Interface Module For 1721 1760 2600 2600XM 2691

Thermal Separation Products Multi-Solvent Module SP4510-CH-1 Date Interface

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Modicon PC-A984-141

Schneider Modicon GOULD PROGRAMMABLE CONTROLLER AS-584L-231 115V

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Schneider Modicon AS-C921-000 NSPP ASC921000

Schneider Modicon ASMBKT085 MB+ Connector AS-MBKT-085

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Schneider Modicon MEMORY EXECUTIVE MODULE AS-E908-016 IN BOX

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ProSoft MVI56-PDPMV1 DPV1 PROFIBUS Master Module for Allen Bradley

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HP Agilent 83480A Digital Communications Analyzer with no Modules

SIEMENS SIMODRIVE 6SN1145-1BA01-0BA1SINUMETIK 840D NCU-BOX 6FC52476FC5356 #DK

SIEMENS SINUMERIK 820 T 6FC3261-1AC-Z CONTROL PANEL 5703029301.00 TESTED

SIEMENS Moore Pneumatic Pressure Transmitter 173S-M44 1100-1400psi 6620010640366

Allen-Bradley PanelView 900 2711-K9C3 Series C Revision B WARRANTY

54825A Infiniium Oscilloscope 4 Ch/ 500 MHz -Calibrated 30

ABB Stromberg SAFT113POW Rev N Power Supply Board SAFT-113POW 7030026

A06B-0153-B075#7075 FANUC SERVO MOTORS REMANUFACTURED

70600A HP/Agilent Preselector Module, 0-22GHz, for MMS System

RELIANCE ELECTRIC 0-52854-2 NSFP 0528542

ALLEN BRADLEY 1785-L20E/E NSPP 1785L20EE

ALLEN BRADLEY 1388-BAV40 USPP 1388BAV40

GENERAL ELECTRIC DS3800NMEA1G1E USPP DS3800NMEA1G1E

THOMSON INDUSTRIES 34-510572-6666 NSPP 345105726666

SUNDSTRAND 65001553 USPP 65001553

FANUC A16B-1210-0250 NSPP A16B12100250

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SIEMENS 6ES5 308-3UB11 Interface Modulewith Warranty 6ES5 375-1LA61

SIEMENS 6ES5-924-3SA11/6ES5924-3SA11 CPU MODULE NIB

Siemens 6ES5 710-0AA11 USPP 6ES57100AA11

Siemens 6ED1 052-2HB00-0BA3 6ED1052-2HB00-0BA3 FreeShip

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RME HAMMERFALL HDSP 9632 AUDIO INTERFACE SOUND CARD

Telemecanique VW3A28100

SIMATIC S7 6ES71511BA020AB0 6ES7 151-1BA02-0AB0

Wago 750-315 MODBUS FIELDBUS COUPLER

Siemens Basic Operator Panel BOP20 6SL3055-0AA00-4BA0

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Schneider Modicon Automation Power Supply AS-P120-000 2869

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Schneider Modicon AS-B883-101 Free Ship

Schneider Modicon AS-984A-832 MODULE 1 YR WARR OBSOLETE

Schneider Modicon Output Module AS-BDAP-210 BDAP 210

Schneider Modicon AS-P120-000/ASP120000 Power Supply SEALED

SCHNEIDER AUTOMATION 8-POINT OUTPUT MODULE TSX-DST-882 TSXDST882

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RELIANCE ELECTRIC 45C-200 USPP 45C200

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SIEMENS Sinumerik System 6 CNC Control Operating Manual

Omron GRT1-DRT PLC Communication Adapter W/ Smartslice Modules

SIEMENS SIMO DRIVE LT MODULE 6SN1142-1AA00-0DA1

SIEMENS SINUMERIK810/840 ADAPTER 6FC5247-0AA31-0AA0

SIEMENS PLC battery 6FC5247-0AA18-0AA0 575332 3.0V

ALLENBRADLEY1771-OGTTLOUTPUTMODULE

ALLEN BRADLEY SLC500 OUTPUT MODULE 1746-OB8/A S26D

ABB NINT-70

Z-Technology Drive Test System

(YOKOGAWA)DCS NC4 B Nest Common Card good in condition for industry use

MODICON AM-M909-000 USPP AMM909000

ALLEN BRADLEY 1394C-AM50 NSPP 1394CAM50

GENERAL ELECTRIC L90-D00-HCL-F8A-H6C-LXX-N6S-SXX-U6U-W7T NSFP L90D00HCLF8AH6CL

FURNAS ELECTRIC CO 3RW3465-0DC25 NSFP 3RW34650DC25

SIEMENS 6RA2413-2FS22 NSFP 6RA24132FS22

SEW EURODRIVE MDS60A0150-503-4-0T USPP MDS60A015050340T

YOKOGAWA DR1015B62 USPP DR1015B62

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Siemens POWER SUPPLY 6ES5 951-7ND31 PS951 7/15A /BOX

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Shark 200 Panel Mounted Power Meter and Data Logger

Square D 8030 RIM-125

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WE SHIP SAME F/S VIC3-4FXS/DID CISCO 4 Port Voice Interface Card

SIEMENS 6GK1-502-3CB10 INTERFACE MODULE 6GK15023CB10

Siemens TP177A 6AV6642-0AA11-0AX1 Protective Film

Schneider Modicon SEALED AS-BADU-204/ASBADU204 Analog Input OFFERS ACCEPTED

Schneider Modicon ASBDEP218 AS-BDEP-218Compact input

Schneider Modicon AS-B805-016 800 I/O MODULE

Schneider Modicon Modbus Adaptor Model AS-J375-010

Schneider Modicon AS-M380-006 OUT OF BOX

Schneider Modicon AS-B875-111 Analog Input

SchneiderElectricXBTF034510

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SBA-7141M-T Blade 4 Six-Core 2.6GHz Istanbul 64GB RAM

Siemens HMI 6AV6 641-0CA01-0AX1 NIB 6AV66410CA010AX1

SIEMENS Sinumerik 6FX1821-1BX03-4B Memory Module.

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SIEMENS 6SN1118-0DJ23-0AA2 6SN1 118-0DJ23-0AA2 SIMODRIVE 611 Control Board

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ALLENBRADLEYPANELVIEW550CAT2711K5A10

ALLEN BRADLY VersaView 1700M OPERATOR INTERFACE DISPLAY 6186-M17ALTR SER. B

ABB Drive ACS800-U2-0170-5 150 HP 3 Phase

ADEPT TECHNOLOGY ROBOT CONTROLLER MODEL 310 SOLD AS IS

(75) Hercule 2000 Modules

INDRAMAT TDM1.2-100-300-W1/115 USPP TDM12100300W1115

WESTINGHOUSE HNC31200F USPP HNC31200F

FANUC A06B-6059-H222 USPP A06B6059H222

ELECTRO CAM Y7455A USPP Y7455A

RELIANCE ELECTRIC 803610-SB USPP 803610SB

NSK XY-HRSO-5-M201 USPP XYHRSO5M201

OKUMA E4809-436-016-D USPP E4809436016D

Siemens 6ES5 434-7LA12 6ES54347LA12

Siemens 6ES5-902-3SA12 NSFP 6ES59023SA12

SIEMENS 6ES5-385-8MB11 6ES53858MB11

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Siemens S5 6ES5 375-0LA21 6ES53750LA21 Memory Module

SIEMENS 6SE7090-0XX84-0AD1 Card 6SE70900XX840AD1 version 99% , no box

Siemens 6ES7 332-5HF00-0AB0 6ES7332-5HF00-0AB0 SM 332 Analog Output QUANTITY

Siemens U-04BJ

Mitsubishi Remote Start Starter Transponder Key Learning Bypass Module

WS-X6148A-GE-45AF CISCO 6500 SWITCH MODULE 48 Ports POE 802.3AF

Siemens 6ES7 407-0DA01-0AA0 6ES7407-0DA01-0AA0 FreeShip

Siemens Profibus PCI Card 6GK1561-1AA01 CP5611 in Sealed Box

Reliance 0-57003

Schneider Modicon MINT AS-B883-111 ASB883111

Schneider Modicon AS-B243-110 INPUT MODULE ANALOG

Schneider Modicon AS-P930-204 USPP ASP930204

Schneider Modicon AS-B828

Schneider Modicon AS-B570-001 Output Module w/Wire Arm B570 UVG

Modicon Modbus Plus T-Connector 990NAD23000

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Advantech EVOC PCL-812PG REV:1.0 Card

Allen-Bradley 1771-OFE2 PLC5 Analog Output Module Ser.B

ABB ACS60100205000C1500000 ACS 600 Series Drive 61301411

AD9644, ADC, SPI, EVALUATION BOARD, AD9644 155KITZ 2096106

6ES7470-1AB00-0AA0 Brand , Factory Sealed,

900' Wesleyan Triplex Aluminum Cable Wire URD 350MCM 350-350-4/0 600Voltage

SQUARE D MHL3670035DC2351 USPP MHL3670035DC2351

CONTROL TECHNIQUES 9500-8607 USPP 95008607

BAYSIDE PG115-150-041 USPP PG115150041

MOORE PRODUCTS 39VIMCCN NSFP 39VIMCCN

MARPOSS 3405073000 NSFP 3405073000

EUROTHERM CONTROLS TC2001/02/150A/380V/00/4-20MA/NONE/SC/V2/PLU// NSFP TC2001021

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iDatalink ADS-HRN-CH4 T Harness Interface Module

YOKOGAWA F3RZ81-ON RS232 INTERFACE MODULE

Siemens 6ES5-460-7LA12 6ES5460-7LA12 ANALOG MODULE

Siemens MP270 6AV6542-0AH10-0AX0 Membrane Keypad

Omron NT20M-DT121-V1

Schneider Modicon AS-BDAP 210 Discrete Output Module

Schneider Modicon AS-506P-F16 NSFP AS506PF16

Schneider Modicon AS-J892-001

Schneider Modicon AS-521P-008 CNC Memory Board (AIND/UGC)

Schneider Modicon Electronics AS-W808-002 Cable Assembly Remote I/O W808-002

Schneider Modicon -AS-BDAP-216N

SIEMENS/TI 505-4232 INPUT MODULE 110VAC 32 POINT XLNT

Schneider Twido PLC TWDLCAA40DRF NIB

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SIEMENS 505-4516 OUTPUT MODULE 5054516

SIEMENS Sinumerik 810 CNC Control Commissioning Manual

COMMUNICATION ECM 8E0035616A

SIEMENS SIMODRIVE 6SN1146-1AB00-0BA2SINUMETIK 840D NCU-BOX 6FC52476FC5356 #2KH

SIEMENS SIMODRIVE 6SN1145-1AA01-0AA1SINUMETIK 840D NCU-BOX 6FC52476FC5357 6SN

Advantech EVOC IPC-6106P3B Board

ALLEN-BRADLEY 6182-AGAZAC INDUSTRIAL COMPUTER 100 TO 240VAC 50/60HZ 0.4/0.25AMP

ABB 3HAB 5956-1 DSQC 323 ROBOT MODULE MEMORY EXPANSION BOARD 8MB

ACCURAY 083883-004 USPP 083883004

A06B-6104-H126#H543#B FANUC SERVO AMPLIFIER

809A02E ALLEN BRADLEY 809 A02E

SIEMENS 6ES5-526-3LA11 NSFP 6ES55263LA11

ASEA BROWN BOVERI 52614759 NSFP 52614759

ALLEN BRADLEY 6182-AIBAZC USPP 6182AIBAZC

LAMBDA LK343A USPP LK343A

HACH 47605-00 USPP 4760500

ADEPT TECH 10310-70200 USPP 1031070200

PROMESS MFG EMAC-3820-20.6 USPP EMAC3820206

Siemens 6ES5-340-3KB42 NSFP 6ES53403KB42

SIEMENS 6ES5 441-7LA11 6ES54417LA11

SIEMENS S5-100U CPU 100 6ES5 100-8MA02 SIMATIC

Siemens Memory Sub Module 6ES5 375-1LA71 22797

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GOULD MODICON REMOTE INTERFACE MODULE AS-P453-612

Trane Control Tracer Interface Module X13650322-01