多关节工业机械手PLC控制系统设计(论文).doc

长春工业大学
毕业设计、毕业论文
题目基于PLC的多关节机械手
电控系统设计
学院人文信息学院
专业班级自动化班
指导教师孙颖
姓名周庆松
2011年6月3日
摘要
随着社会和科学技术的发展,工业生产的操作方式也发生着革命性的变化,从手工作坊式的劳动,逐渐演变成自动化、智能化的生产方式,人类也逐渐无法完成某些生产过程,所以为了适应生产的需要出现了特殊的生产工具——机械手。与此同时也出现了一些新的生产活动,在这些生产活动中,有些是属于高危险的,对人体伤害较大,有些领域不适宜人类工作,机械手则正好适应这类工作。
在当今大规模制造业中,企业为提高生产效率,保障产品质量,普遍重视生产过程的自动化程度,工业机器人作为自动化生产线上的重要成员,逐渐被企业所认同并采用。工业机器人的技术水平和应用程度在一定程度上反映了一个国家工业自动化的水平,目前,工业机器人主要承担着焊接、喷涂、搬运以及堆垛等重复性并且劳动强度极大的工作,工作方式一般采取示教再现的方式。
机械手是模仿着人手部的部分动作,按照给定程序、轨迹和要求实现自动抓取、搬运或操作的自动机械装置。本文对多关节工业液压机械手的结构进行了详细研究。
关键词:三自由度机械手 PLC系统
Abstract
As society and the development of science and technology,Industrial production operation mode has also undergone a revolutionary change, from manual mill of labor, gradually evolved into automatic and intelligent mode of production and human also gradually unable plete some production process, so in order to adapt to the needs of the production of the appeared special production tools - manipulator. Meanwhile also appeared a few new production activities in these production activities, some are belong to high risk, to human body harm is larger, some areas not suitable for human work is just, manipulator to meet this kind of work.
In today's large-scale manufacturers, enterprises to improve production efficiency and ensure product quality, universal attention production process automation degree, industrial robots as an important member of automatic production line, gradually the enterprise recognizes and adopted. Industrial robot technology level and USES degree in a certain extent reflect a nation industrial automation level, at present, the industrial robot main bearing welding, spraying, handling and stacking repeatability and the intensity of labor etc greatly, work normally take the reappearance of the demonstration teaching way.
Manipulator is imitating the people hand movement, according to a given part of the program, track and requests to realize the acquirement, handling and operation of automatic mechanical device. In