plc机械手毕业设计.pdf

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摘 要
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、等机械器件组成；电气方面有交流
电机、变频器、传感器、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、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 输出三路脉冲，分别驱动横轴、竖轴变频器，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；位置信号由接近开关反馈给 PLC
主机，通过交流电机的正反转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。
关键词：机械手 PLC 变频器 交流电机
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机械手的 PLC 控制
Abstract
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 composition; Electric have AC motor,
inverter, sensor, and other electronic device components. The
device covers aprogrammable control technology, position
control technology, detection technology, Mechatronics is a
typical representative of one of the machines. This paper
presents amanipulator by three PLC output pulse, driving
horizontal, the vertical axis transducer, control manipulator
axis horizontal and vertical positioning precision,
micro-switches position signal transmission will host PLC;
location close to the switching signal from the feedback from
the mainframe to the PLC, through the exchange of Motor
reversion 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, can replace the
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.
Key Words: Manipulator PLC Inverter AC motor
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机械手的 PLC 控制
录目
摘 要.............................................................