基于PLC的机械手系统设计毕业设计.doc

广州铁路职业技术学院2008届毕业论文 PAGE PAGE 44 毕业设计 题 目 基于PLC的 机械手系统设计 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；电气方面有直流流电机、步进电机、步进电机驱动器、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输出两路脉冲，分别驱动横轴、竖轴步进电机，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；位置信号由接近开关反馈给PLC主机，通过直流电机的正反转来控制机械手手爪和底盘的旋转，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；步进电机；步进电机驱动器；PLC。 目录 摘要····································································1 第一章 绪论·····························································3 1.1 引言······························································3 1.2 机械手的设计······················································3 1.2.1 设计目的······················································ 1.2.2 设计内容······················································ 1.2.3 设计依据与可行性··············································4 1.2.4 设计步骤······················································4 1.2.5 其他说明······················································4 1.3 机械手的要求与原始数据············································5 1.3.1 设计要求······················································ 1.3.2. 原始数据·····················································5 第二章 机械手的组成·····················································7 第三章 机械手的软硬件设计···············································8 3.1 I/O分配表·························································8 3.2 I/O接线图·························································9 3.3 主要硬件设备名称及型号···········································10 3.4 主要硬件设备说明·················································10 3.5 PLC控制程序·····················································12 3.5.1 流程图·······················································12 3.5.2 梯形图·······················································13 3.5.3 指令表·······················································18 3.6 气动回路图·······················································21 总结···················