可编程逻辑控制器plc机械手 毕业设计.doc

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
Abstract
Manipulator industrial robot systems traditional mandate, Robot is one of the ponents. Manipulator using the mechanical structure of screw-ball, slider, and other mechanical position; Electric have AC motor, inverter, sensor, and other electronic ponents. The device covers a programmable control technology, position control technology, detection technology, Mechatronics is a typical representative of one 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 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 cam
paign process and the requirements of any changes to the relevant parameters.
Key Words: Manipulator PLC Inverter AC motor
目录
摘要 1
ABSTRACT 2
引言 4
第一章 机械手机械结构 5
传动机构 5
6
第二章可编程控制PLC 8
PLC简介 8
PLC内部原理 10
A. 系统程序存储区 11
B. 系统RAM存储区 11
11
PLC的工作原理 12
PLC机型的选择方法 15
机械手PLC选择及参数 17
第三章三相异步电动机的工作原理及结构 19
三相异步电动机的结构 19
三相交流电机工作原理 23
三相电动机的转动原理 25
机械手电机的选用 29
第四章变频器 29
30
变频器的分类和控制方式 34
FR-A540变频器 37
第五章机