第一章机械手及控制器的概况

1基于PLC机械手控制设计摘要随着工业自动化的普及和发展，控制器的需求量逐年增大，搬运机械手的应用也逐渐普及，主要在汽车，电子，机械加工、食品、医药等领域的生产流水线或货物装卸调运,可以更好地节约能源和提高运输设备或产品的效率，以降低其他搬运方式的限制和不足，满足现代经济发展的要求。本机械手的机械结构主要包括由两个电磁阀控制的液压钢来实现机械手的上升下降运动及夹紧工件的动作，两个转速不同的电动机分别通过两线圈控制电动机的正反转，从而实现小车的快进、慢进、快退、慢退的运动运动；其动作转换靠设置在各个不同部位的行程开关(SQ1---SQ9)产生的通断信号传输到PLC控制器，通过PLC内部程序输出不同的信号，从而驱动外部线圈来控制电动机或电磁阀产生不同的动作，可实现机械手的精确定位；其动作过程包括：下降、夹紧、上升、慢进、快进、慢进、延时、下降、放松、上升、慢退、快退、慢退；其操作方式包括：回原位、手动、单步、单周期、连续；来满足生产中的各种操作要求。关键词：搬运机械手可编程控制器（PLC）；液压；电磁阀2ABSTRACTWiththepopularityofindustrialautomationanddevelopment,thedemandforyear-on-yearincreaseofcontroller,handlingtheapplicationofrobotgraduallypopularity,mainlyintheautomotive,electronic,mechanicalprocessing,food,medicineandotherareasoftheproductionlineorcargotransport,wecanbemoregoodtosaveenergyandimprovethetransportefficiencyofequipmentorproducts,toreducerestrictionsonothermodesoftransportationandinadequatetomeettherequirementsofmoderneconomicdevelopment.Themanipulatormechanicalstructureincludestwosolenoidvalvescontrolledbyhydraulicmanipulatorsteeltoachievetheincreaseddeclineinsportsandworkpiececlampingaction,thetwodifferentmotorspeedthroughthetwomotorcoilspositivecontrolinordertoachievecarofthefast-forward,slowforward,fastrewind,slowmovementbackmovement;conversionbysettingitsactoninvariousdifferentpartsofthetripswitch(SQ1---SQ9)generatedon-offsignaltransmissiontothePLCcontroller,throughthePLCinternaldifferentoutputsignal,whichdrivestheexternalcoiltocontrolthemotororsolenoidvalveshaveadifferentaction,therobotcanachieveprecisepositioning;theircourseofactioninclude:declineinclampingincreased,slowforward,fastforward,slowprogress,theextensionof,thedropin,relax,rise,slowback,rewind,slowback;itsoperation,including:Backinsitu,manual,single-step,singlecycle,continuous;tomeettheproductionrequirementsofthevariousoperationsandmaintenance.Keywords:handlingmechanicalhands；ProgrammableLogicController(PLC)；hydraulic；solenoidvalve3目录第一章机械手的概况............................................................................................................................41.1机械手的概况..............................................................................................................................41.1.1机械手简介与分类..............................................................................................................41.1.2搬运机械手的应用简况及意义..........................................................................................41.1.3搬运机械手的发展趋势......................................................................................................6第二章控制器的概况............................................................................................................................82.1可编程序控制器的应用和发展概况...........................................................................................82.1.1PLC简介与分类...................................................................................................................82.1.2PLC的特点...........................................................................................................................92.1.3PLC的应用概况...................................................................................................................9第三章机械手的硬件系统设计..........................................................................................................103.1机械手的工作过程及结构参数分析.........................................................................................103.1.1机械手结构及工作过程....................................................................................................103.2机械手的结构参数分析...........................................................................................................123．2.1机械手臂结构分析..........................................................................................................123.2.2机械手手爪的结构分析....................................................................................................123.2.3机械手汽缸的选择分析....................................................................................................123.2.4机械手控制系统设计步骤................................................................................................12第四章机械手的控制系统..................................................................................................................134.1机械手的系统设计....................................................................................................................134.1.1控制特点............................................................................................................................134.1.2plc选型.............................................................................................................................134.1.3系统控制示意图................................................................................................................134.1.4原理接线图........................................................................................................................154.1.5操作系统...........................................................................................................