机械手臂论文

目录目录..............................................................................................................................................I摘要..................................................................................................................................................IABSTRACT.....................................................................................................................................II前言..................................................................................................................................................1第1章YL335A自动化生产线实训考核装备概述......................................................................01.1YL-335A的基本组成...............................................................................................................01.2YL-335A的基本功能.......................................................................................................11.3YL-335A的特点和实训项目............................................................................................1第二章输送单元的结构与控制.....................................................................................................32.1输送单元的功能和结构...................................................................................................32.1.1抓取机械手装置.........................................................................................32.1.2步进电机传动组件........................................................................................42.1.3按钮/指示灯模块.......................................................................................62.1.3气动控制回路...............................................................................................72.2输送单元的PLC控制.......................................................................................................82.2.1PLC的选型和I/O接线...............................................................................82.2.2输送单元的控制要求....................................................................................132.2.3输送单元的步进电机及其驱动器.............................................................132.2.4S7-200PLC的脉冲输出功能....................................................................162.2.5使用位控向导编程...................................................................................18第三章传输单元PLC程序.........................................................................................................263.1传输站流程图..................................................................................................................263.2传输站PLC程序.............................................................................................................283.2.1启动停止子程序..........................................................................................283.2.2复位之程序.................................................................................................283.2.3位置控制子程序.........................................................................................283.2.4手爪控制子程序.........................................................................................293.3全部程序.........................................................................................................................29总结词............................................................................................................................................35致谢词............................................................................................................................................36参考文献.........................................................................................................................................37河南大学本科毕业生学士学位论文I摘要本设计根据现实的工程需求，在对可编程控制器的理解和分析的基础上，设计出用可编程序控制器（ProgrammableController，简称PLC）来实现亚龙YL-335A型自动生产线输送单元控制系统的手动控制。本设计共分三部分，其中第一部分对YL-335A自动化生产线做了简要的介绍。第二部分根据毕业设计要求，提出了装配站的合理设计方案，并对设计步骤作了进一步的介绍。另外对资源的配置以及在现实中装配装置的各个部件及原理做了介绍，并对步进电机步数的计算和速度的设置以及在编程中所用到的指令进行了介绍。第三部分传输站软件编程中所用到的一些指令作了介绍，对部分程序作了详细的解读。本设计通过软硬件之间的配合与调试，从而达到工业设计的要求，实现了传输站的手动控制。关键词：可编程序控制器传输站手动控制河南大学本科毕业生学士学位论文IIABSTRACTThedesignbasedonrealisticengineeringdemands,intheunderstandingandanalysisofprogrammablelogiccontrollerbasedonthedesignwithprogrammablelogiccontroller(ProgrammableController,calledPLC)toachievetheYalongYL-335Aautomaticproductionlineconveyorunitcontrolmanualcontrolsystem.Thedesignconsistsofthreeparts,thefirstpartoftheYL-335Aautomatedproductionlineisbrieflyintroduced.Thesecondpartofthegraduationrequirementundertheproposedrationaldesignofassemblystations,andmadeafurtherdescriptionofthedesignsteps.Inadditiontotheresourceconfigurationandassemblyplantintherealityprincipleofthevariouscomponentsandhavebeendescribed,andthesteppermotorstepsofcalculationandspeedsettingsandprogramminginstructionsusedintheintroductory.Thethirdpartofthetransmissionstationsusedbysoftwareprogramminginstructionsintroducedanumberofdetailedinterpretationofsomeoftheprocedures.Thesynergybetweensoftwareandhardwaredesignanddebugging,soastoachievetherequirementsofindustrialdesigntoachieveatransmissionstationofthemanualcontro