机械手自动上下料的plc控制设计（全套含CAD图纸）.rar

大学本科毕业论文(设计) I 宁 XX 大学毕业设计( 论文) 机械手自动上下料的 plc 控制设计分院: 专业: 班级: 姓名: 学号: 指导教师: 年月大学本科毕业论文(设计) II 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。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,通过气缸控制机械手吸盘,从而实现机械手精确运动的功能。本课题拟开发的机械手可在空间吸取放开物体,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。本文在纵观了近年来机械手发展状况的基础上,结合机械手方面的设计,对机械手技术进行了系统的分析,提出了用驱动和 PLC 控制的设计方案。采用整体化的设计思想,充分考虑了软、硬件各自的特点并进行互补优化。对机械手的整体结构、执行结构、驱动系统和控制系统进行了分析和设计。在其驱动系统中采用驱动,控制系统中选择 PLC 的控制单元来完成系统功能的初始化、机械手的移动、故障报警等功能。最后提出了一种简单、易于实现、理论意义明确的控制策略。通过以上部分的工作,得出了经济型、实用型、高可靠型机械手的设计方案,对其他经济型 PLC 控制系统的设计也有一定的借鉴价值。关键词: 机械手, 交流电机, 可编程控制器( PLC ),自动化控制,。大学本科毕业论文(设计) III Abstract Manipulator industrial robot systems traditional mandate, The device covers a programmable control technology, position control technology, detection technology, Mechatronics isa typical representative ofone of the machines. This paper presents a manipulator 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 tobe developed by the Manipulator grasping beup 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. In this paper, by reviewing the development al status of the manipulator in recent years , combin ing the design of manipulator and systematic analy zing technology of the manipulator , We proposed the design scheme that the manipulator was driven by the pneumatic and the system was controlled by PLC. I ntegrative idea was adopted in th