機(jī)械手搬運(yùn)物控制的設(shè)計(jì)

①頁數(shù) 19
②字?jǐn)?shù) 3429
③摘要
摘 要：伴隨著機(jī)電一體化在各個領(lǐng)域的應(yīng)用，機(jī)械設(shè)備的自動控制成分顯得越來越重要，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，增加了工人的勞動強(qiáng)度，甚至于危機(jī)生命。因此機(jī)械手就在這樣誕生了,機(jī)械手是工業(yè)機(jī)器人系統(tǒng)中傳統(tǒng)的任務(wù)執(zhí)行機(jī)構(gòu)，是機(jī)器人的關(guān)鍵部件之一。其中的工業(yè)機(jī)械手是近代自動控制領(lǐng)域中出現(xiàn)的一項(xiàng)新技術(shù)，它的發(fā)展是由于其積極作用正日益為人們所認(rèn)識：它能部分地代替人工操作；能按照生產(chǎn)工藝的要求，遵循一定的程序、時間和位置來完成工件的傳送和裝卸；能制作必要的機(jī)具進(jìn)行焊接和裝配從而大大改善工人的勞動條件，顯著地提高勞動生產(chǎn)率，加快實(shí)現(xiàn)工業(yè)生產(chǎn)機(jī)械化和自動化的步伐。本課程設(shè)計(jì)是用PLC來實(shí)現(xiàn)對機(jī)械手的控制，其工作方式是先控制機(jī)械手到要搬運(yùn)物的位置，抓緊物體，再控制機(jī)械手將物體搬到指定地點(diǎn)將物體放下，期間用限位開關(guān)準(zhǔn)確控制機(jī)械手的位置。
Abstract：With the mechanical and electrical integration in various fields of application, mechanical equipment, automation components become increasingly important, as a result of the need, it has often been high-temperature, corrosive and toxic gas hazards and other factors, an increase of labor intensity , and even life-threatening. Therefore, in this way the robot was born, the industrial robot manipulator system, the traditional task of implementing agencies, is one of the key components of the robot. In which the industrial robot automation in modern times occurred in the area of a new technology. Its development is due to its positive role is increasingly being recognized: it can partially replace the manual operation; in accordance with the requirements of production process, following certain procedures, time and location to complete the transfer and handling of the workpiece; be able to produce the required equipment for welding and assembly and thus greatly improve the working conditions of workers, significantly raising labor productivity, accelerate the mechanization and automation of industrial production pace. This course is designed to achieve the right to use PLC control of manipulator and its work is to control the robot to be the first moving object position, grasp objects, and then control the robot to move to the designated place will be the object object down, during which precise control with limit switch Manipulator position.
④目錄
目錄

緒論 1
1.動作流程 1
2.機(jī)械手的順序功能圖 2
3.機(jī)械手的軟件部分 2
3.1 PLC的梯形圖程序如圖3-1所示 2
3.2 STL語句表 5
3.3仿真與運(yùn)行 5
4.機(jī)械手的硬件部分 10
4.1 PLC選型及I/O點(diǎn)分配表 10
4.1.1 PLC的型號 10
4.1.2 PLC的I/O點(diǎn)分配表 10
4.2 電氣控制主接線圖 10
4.3 PLC外部接線圖 11
5.設(shè)計(jì)中遇到的問題與解決方法 12
6. 總結(jié) 12
7. 參考文獻(xiàn) 13
附錄Ⅰ 15


⑤關(guān)鍵字
機(jī)械手，PLC，控制，限位開關(guān)
robot；PLC；control；limit switch
⑥參考文獻(xiàn)
[1] 王淑英.電氣控制與PLC控制技術(shù)[M].北京：機(jī)械工業(yè)出版社，2005年1月
[2] 王淑英.電氣控制與PLC[M] .北京：機(jī)械工業(yè)出版社，2006年12月
[3] 廖常初.PLC編程及應(yīng)用[M] .第3版.機(jī)械工業(yè)出版社，2008年6 月
[4] 羅宇航.流行PLC實(shí)用程序及設(shè)計(jì)（西門子S7-200系列）[M].北京：機(jī)械工業(yè)出版社，2006年12月
[5] 方承遠(yuǎn).工廠電氣控制技術(shù)[M] .第3版.機(jī)械工業(yè)出版社，2008年4月