機(jī)械手模型的PLC控制系統(tǒng)設(shè)計(jì)

電氣自動(dòng)化論文編號(hào):ZD187  附開(kāi)題報(bào)告,任務(wù)書(shū),原理圖,三菱系列PLC   論文字?jǐn)?shù):13931,頁(yè)數(shù):37

目  錄
第一章  概述 4
1.1 工業(yè)機(jī)械手系統(tǒng)概論 4
1.1.1 發(fā)展設(shè)計(jì)工業(yè)機(jī)械手的目的和意義 4
1.1.2 工業(yè)機(jī)械手的應(yīng)用與發(fā)展趨勢(shì) 4
1.2機(jī)械手的設(shè)計(jì)原理 5
1.3 自動(dòng)控制系統(tǒng)的分類(lèi) 5
1.4 本章小結(jié) 8
第二章 機(jī)械手的性能和特性 9
2.1機(jī)械手的機(jī)能和特性 9
2.2機(jī)械手的夾緊機(jī)構(gòu)和軀干 9
2.3本章小結(jié) 10
第三章 控制要求 11
3.1.機(jī)械手工作過(guò)程概述 11
3.2技術(shù)要求 12
3.3主要參數(shù) 12
3.4設(shè)計(jì)要求 12
3.5本章小結(jié) 12
第四章 系統(tǒng)的硬件設(shè)計(jì) 13
4.1設(shè)計(jì)方案 13
4.2 PLC機(jī)型的選擇 13
4.3 步進(jìn)電機(jī)及驅(qū)動(dòng)器 14
4.31步進(jìn)電機(jī)的選型 14
4.32步進(jìn)電機(jī)驅(qū)動(dòng)器 17
4.3步進(jìn)驅(qū)動(dòng)器電源的參數(shù) 20
4.4氣缸的選擇 20
4.5元件清單 23
4.6本章小結(jié) 23
第五章 控制系統(tǒng)軟件的設(shè)計(jì) 24
5.1 I/O地址的分配 24
5.2控制程序的流程圖 25
5.3電路接線圖（見(jiàn)附錄A） 26
5.4程序梯形圖 26
5.5本章小結(jié) 32
結(jié)論與展望 33
致謝 34
參考文獻(xiàn) 35
附錄 36

摘要  在工業(yè)生產(chǎn)和其他領(lǐng)域內(nèi)，由于工作的需要，人們經(jīng)常受到高溫、腐蝕及有毒氣體等因素的危害，甚至于危及生命。工業(yè)機(jī)械手就這樣誕生了,機(jī)械手是工業(yè)機(jī)器人系統(tǒng)中任務(wù)執(zhí)行機(jī)構(gòu)，是機(jī)器人的關(guān)鍵部件之一。其電氣方面有步進(jìn)電機(jī)、開(kāi)關(guān)電源、電磁閥等電子器件組成。該裝置涵蓋了可編程控制技術(shù)，位置控制技術(shù)、氣動(dòng)技術(shù)等，是機(jī)電一體化的典型代表儀器之一。本文介紹的機(jī)械手是由PLC輸出五路來(lái)分別驅(qū)動(dòng)手臂上下直線運(yùn)動(dòng)，手臂左右直線運(yùn)動(dòng)，手腕旋轉(zhuǎn)運(yùn)動(dòng)，機(jī)械手整體旋轉(zhuǎn)運(yùn)動(dòng)，手爪夾緊動(dòng)作的精確定位，微動(dòng)開(kāi)關(guān)將位置信號(hào)傳給PLC主機(jī)；電機(jī)拖動(dòng)手爪和底盤(pán)旋轉(zhuǎn)；電磁閥控制氣閥的開(kāi)關(guān)來(lái)控制機(jī)械手手爪的張合，從而實(shí)現(xiàn)機(jī)械手精確運(yùn)動(dòng)的功能。本課題擬開(kāi)發(fā)的工業(yè)機(jī)械手模型可在空間抓放物體，動(dòng)作靈活多樣，可代替人工在高溫和危險(xiǎn)的作業(yè)區(qū)進(jìn)行作業(yè)，并可根據(jù)工件的變化及運(yùn)動(dòng)流程的要求隨時(shí)更改相關(guān)參數(shù)。
關(guān)鍵字 機(jī)械手 可編程控制器PLC 位置控制 步進(jìn)電機(jī)

ABSTRACT

In terms of industrial production and other fields, as a result of the working need，people often accept the factor damage such as the high temperature , corrosion and toxic gas, even life-threatening. The industry manipulator like this was born; the manipulator which is one of robot key components is in the industry robot assembly system the duty implementing agency. There are electrical machinery, switching power supply, electromagnetic valve, electronic device composition and so on. This equipment which is the integration of machinery model represents one of instruments has covered the programmable control technology, the positions control technology, the air operated technology and so on. This article introduced the manipulator, it outputs four groups by PLC to actuate the abscissa axis, the z-axis, the chassis rotation, hand-rotating motor separately, and controls the manipulator abscissa axis and the z-axis pint pointing, the micro switch bequeaths the position signal to the PLC main engine; The electrical machinery drives the hand fingernail and the chassis revolve; The solenoid valve controls air valve the switch to control the manipulator hand fingernail to gather, then realizes the manipulator proper motion function. This topic plans to develop the industry manipulator model, and it is to be possible to grasp and puts the object nimbly in the space, whose movement is diverse, it may replace human work in high temperature and the dangerous operation area, and may change there lasted parameters when it is necessary according to the work pieces changing and the movement flowing request.
Key words   manipulator  Programmable controller PLC  position control  step-electric motor.