设计简介
摘要
在工业生产和其他领域内，由于工作的需要，人们经常受到高温、腐蚀及有毒气体等因素的危害，增加了工人的劳动强度，甚至于危机生命。机械手就在这样诞生了,机械手是工业机器人系统中传统的任务执行机构，是机器人的关键部件之一。机械手的机械结构采用滚珠丝杆、滑杆、气缸等机械器件组成；电气方面有步进电机、驱动模块、传感器、开关电源、电磁阀、等电子器件组成。该装置涵盖了可编程控制技术，位置控制技术、气动技术、检测技术等，是机电一体化的典型代表仪器之一。本文介绍的机械手是由PLC输出两路脉冲，分别驱动横轴、竖轴步进电机驱动器，控制机械手横轴和竖轴的精确定位，微动开关将位置信号传给PLC主机；直流电机拖动手爪和底盘旋转，位置信号由旋转码盘和接近开关反馈给PLC主机；电磁阀控制气开阀的开关来控制机械手手爪的张合，从而实现机械手精确运动的功能。本课题拟开发的物料搬运机械手可在空间抓放物体，动作灵活多样，可代替人工在高温和危险的作业区进行作业，并可根据工件的变化及运动流程的要求随时更改相关参数。本文以日本三菱系列PLC为基础，介绍PLC在机械手步进控制中应用，并给出了详细的程序设计过程。该程序已在工业机械手中获得了应用，具有稳定、可靠的性能，可供同类设计参考。
关键词：
可编程控制器PLC；机械手；脉冲；步进电机驱动器；步进电机；直流电机；传
感器、限位开关。
In terms of industrial production and other fields, as a result of the needs, it has often been the heat, corrosive and toxic gas hazards and other factors, the increase in labor intensity, and even life crisis. Manipulator in the birth of such a manipulator, industrial robot systems traditional mandate, Robot is one of the key components. Manipulator using the mechanical structure of screw-ball, slider, and other mechanical devices cylinder components; Electrical connection is stepping motor, Driver module, sensors, switching power supply, solenoids, electronic devices and other components. The device covers a programmable control technology, position control technology, pneumatic technology, detection technology, Mechatronics is a typical representative of one of the machines. This paper describes the manipulator by the PLC two pulse output were driving horizontal, vertical-axis stepper motor actuators, control manipulator axis horizontal and vertical positioning precision, micro-switch position signal will pass PLC mainframes; DC Motor Drive and chassis gripper rotating position signal from the rotary encoder and nearly PLC switch back to the main machine; solenoid valve control of the gas valve opening switches to control the manipulator gripper Zhang, thus achieving accurate manipulator movement functions. The topics to be developed by the Manipulator grasping be up in space objects, movements flexible, diverse, In place of artificial heat and dangerous operation conducted operations, According to the workpiece can change the campaign process and the requirements of any changes to the relevant parameters. Based on Japan's Mitsubishi PLC, based on the manipulator PLC stepper control applications, and gives a detailed program design process. The procedure has been in the hands of industrial machinery access to the application, with stable, reliable performance for a similar design. Keywords : PLC manipulator; Pulse; Stepper motor actuator; Stepper motor Motor; sensors will, limit switch
目录
摘要.......................................................
Abstract.......................................................
第一章 绪论 .............……………………………………………...
1.1 本课题的意义 ……………………………………………. 3
1.2 本文的主要工作 ……………………………………………3
1.3选择设计方案……………………………………… 3
第二章 PLC 的概述 …………………………………………4
2.1 PLC的基本知识 …………………………………………..4
2.2 PLC的应用与前景 ………………………………………..5
第三章 PLC 的编程语言 …………………………………..7
3.1梯形图编程语言……………………………………………...7
3.2 功能块图编程语言……………………………………………8
3.3 西门子 S7-200的编程语言…………………………..
第四章 PLC控制机械手的设计……………………………….9
4.1 各电器设备的制方式及控制要求…………………………..10
4.2电器元件设备的选择 ………………………………………12
4.3控制系统的软、硬件设计 ………………………………...13
第五章 设计小结 ………………………………………………33
第六章 谢辞 …………………………………………………….....34
参考文献 ……………………………………………………....…..35
在工业生产和其他领域内，由于工作的需要，人们经常受到高温、腐蚀及有毒气体等因素的危害，增加了工人的劳动强度，甚至于危机生命。机械手就在这样诞生了,机械手是工业机器人系统中传统的任务执行机构，是机器人的关键部件之一。机械手的机械结构采用滚珠丝杆、滑杆、气缸等机械器件组成；电气方面有步进电机、驱动模块、传感器、开关电源、电磁阀、等电子器件组成。该装置涵盖了可编程控制技术，位置控制技术、气动技术、检测技术等，是机电一体化的典型代表仪器之一。本文介绍的机械手是由PLC输出两路脉冲，分别驱动横轴、竖轴步进电机驱动器，控制机械手横轴和竖轴的精确定位，微动开关将位置信号传给PLC主机；直流电机拖动手爪和底盘旋转，位置信号由旋转码盘和接近开关反馈给PLC主机；电磁阀控制气开阀的开关来控制机械手手爪的张合，从而实现机械手精确运动的功能。本课题拟开发的物料搬运机械手可在空间抓放物体，动作灵活多样，可代替人工在高温和危险的作业区进行作业，并可根据工件的变化及运动流程的要求随时更改相关参数。本文以日本三菱系列PLC为基础，介绍PLC在机械手步进控制中应用，并给出了详细的程序设计过程。该程序已在工业机械手中获得了应用，具有稳定、可靠的性能，可供同类设计参考。
关键词：
可编程控制器PLC；机械手；脉冲；步进电机驱动器；步进电机；直流电机；传
感器、限位开关。
In terms of industrial production and other fields, as a result of the needs, it has often been the heat, corrosive and toxic gas hazards and other factors, the increase in labor intensity, and even life crisis. Manipulator in the birth of such a manipulator, industrial robot systems traditional mandate, Robot is one of the key components. Manipulator using the mechanical structure of screw-ball, slider, and other mechanical devices cylinder components; Electrical connection is stepping motor, Driver module, sensors, switching power supply, solenoids, electronic devices and other components. The device covers a programmable control technology, position control technology, pneumatic technology, detection technology, Mechatronics is a typical representative of one of the machines. This paper describes the manipulator by the PLC two pulse output were driving horizontal, vertical-axis stepper motor actuators, control manipulator axis horizontal and vertical positioning precision, micro-switch position signal will pass PLC mainframes; DC Motor Drive and chassis gripper rotating position signal from the rotary encoder and nearly PLC switch back to the main machine; solenoid valve control of the gas valve opening switches to control the manipulator gripper Zhang, thus achieving accurate manipulator movement functions. The topics to be developed by the Manipulator grasping be up in space objects, movements flexible, diverse, In place of artificial heat and dangerous operation conducted operations, According to the workpiece can change the campaign process and the requirements of any changes to the relevant parameters. Based on Japan's Mitsubishi PLC, based on the manipulator PLC stepper control applications, and gives a detailed program design process. The procedure has been in the hands of industrial machinery access to the application, with stable, reliable performance for a similar design. Keywords : PLC manipulator; Pulse; Stepper motor actuator; Stepper motor Motor; sensors will, limit switch
目录
摘要.......................................................
Abstract.......................................................
第一章 绪论 .............……………………………………………...
1.1 本课题的意义 ……………………………………………. 3
1.2 本文的主要工作 ……………………………………………3
1.3选择设计方案……………………………………… 3
第二章 PLC 的概述 …………………………………………4
2.1 PLC的基本知识 …………………………………………..4
2.2 PLC的应用与前景 ………………………………………..5
第三章 PLC 的编程语言 …………………………………..7
3.1梯形图编程语言……………………………………………...7
3.2 功能块图编程语言……………………………………………8
3.3 西门子 S7-200的编程语言…………………………..
第四章 PLC控制机械手的设计……………………………….9
4.1 各电器设备的制方式及控制要求…………………………..10
4.2电器元件设备的选择 ………………………………………12
4.3控制系统的软、硬件设计 ………………………………...13
第五章 设计小结 ………………………………………………33
第六章 谢辞 …………………………………………………….....34
参考文献 ……………………………………………………....…..35
