毕业设计（论文）-工业机械手模型--基于PLC的控制系统软硬件设计（及程序）.doc

本科毕业设计(论文)
工业机械手模型
基于PLC的控制系统软硬件设计
学生姓名:
学生学号:
院(系): 机电工程学院
年级专业: 机械设计制造及其自动化
指导教师:
助理指导教师:
二〇一一年六月
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,甚至于危及生命。工业机械手就这样诞生了,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。电气方面有电机、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输出四路来分别驱动横轴、竖轴、底盘转动、手转动电机,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;电机拖动手爪和底盘旋转;电磁阀控制气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。本课题拟开发的工业机械手模型可在空间抓放物体,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。
关键字:可编程控制器PLC,机械手,电机,任意位置
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ABSTRACT
In industrial production and other domains, because works need, the people frequently receive factor the and so on high temperature,corrosion and virulent gas harm, increased worker's labor intensity,even endangers life. The industry manipulator like this was born, the manipulator is in theindustry robot assembly system the traditional duty implementingagency, is one of robot ponents. The electrical aspect has theelectrical machinery, the switching power supply, the solenoid valve,and so on the electronic position. This equipment has covered the programmable control technology, theposition control technology, the air operated technology and so on, isthe integration of machinery model represents one of instruments. Thisarticle introduced the manipulator is outputs four groups by PLCseparately to actuate the abscissa axis, the z-axis, the chassisrotation, hand turns an electric motor, controls the manipulatorabscissa axis and the z-axis pintpointing, the microswitch bequeathsthe position signal the PLC main engine; The electrical machinerydrives the hand fingernail and the chassis revolves; The solenoidvalve controls the air valve the switch to control the manipulatorhand fingernail to gather, thus realizes the manipulator proper motionfunction. This topic plans the industry manipulator model which develops to bepossible in the space to grasp puts the object nimbly, the movement isdiverse, may replace artificially carri