QSPLC-JXS机械手

厦门大学第二届工业自动化大赛初赛作品课题名称：工业机械手设计院系：物理与机电工程学院机电系专业:12级电气工程及其自动化小组成员：董震宇、欧阳少威、孙泉阳、赵丽萍指导老师：许英杰联系方式：18020765450邮箱：[e-mail]摘要在工业生产等相关领域，会有一些高温、腐蚀和有毒物质等出现在工作环境中，危害工作人员的健康，增加操作人员的工作难度。机械手可以解决这些问题，代替工人完成拿取和搬运等工作，适合用于可变化生产品种的中、小规模生产。本作品主要通过PLC完成对机械手模型的控制，使其完成一系列的动作过程，并用Wincc对机械手进行监控，将机械手的动态过程进行画面监控和显示。本机械手主要由PLC主机、机械手、步进电机及其驱动器、传感器、光电编码器、气动元件等组成。可以实现机械手的上下移动、左右移动、底盘旋转及手爪旋转、抓放动作。本报告主要对作品的实现功能、程序设计方案、人机界面设计、电气接线图设计、实际调试过程等进行汇报。AbstractInrelatedfields,suchasindustrialproduction，Therewillbesomehightemperature,corrosiveandtoxicsubstancespresentintheworkenvironment,Healthhazardsofstaff,increasingthedifficultyoftheworkoftheoperator.Therobotcansolvetheseproblems,insteadofworkerstopickupandtransportetc.Itissuitablefortheproductionofvarietiesmaychange,thesmall-scaleproduction.ThisworkismainlytocompletetherobotmodeliscontrolledbythePLC,completingtheprocessofmakingaseriesofactions,withKingviewmanipulatormonitor,thedynamicprocessoftherobotbemonitoredanddisplayedscreen.TherobotconsistsofahostPLC,robot,steppermotorsanddrives,sensors,opticalencoders,pneumaticcomponentsandothercomponents.Manipulatorcanmoveupanddownandleftandrighttomove,rotateandgripperrotatingchassis,pickandplaceoperation.Thisreportfocusesontherealizationoftheworkfunction,programdesign,human-computerinterfacedesign,electricalwiringdiagramdesign,theactualprocessofdebuggingandotherreporting.目录目录..................................................................................................................................................5队员信息...........................................................................................................................7第一部分：作品提纲.......................................................................................................................8一、作品研究意义.................................................................................................................8二、国内外研究现状.............................................................................................................82.1.国内研究现状.............................................................................................................82.2.国外研究现状.............................................................................................................9第二部分：系统总体方案设计.....................................................................................................10一、PLC介绍......................................................................................................................10二、Wincc介绍...................................................................................................................112.1.仿真的基本方法.......................................................................................................112.2.编制过程注意点.....................................................................................................11三、机械手系统介绍...........................................................................................................113.1.机械手本体...............................................................................................................133.2.机械手本体的活动范围：.......................................................................................143.3.步进电机及其驱动器...............................................................................................143.3.1.步进电机........................................................................................................143.3.2.步进电机的参数如下....................................................................................143.3.3.步进电机驱动器............................................................................................153.4.限位开关和接近开关...............................................................................................183.4.1.接近开关........................................................................................................183.4.2.限位开关........................................................................................................193.5.旋转码盘...................................................................................................................19第三部分：设计步骤.....................................................................................................................20一、设计要求.......................................................................................................................20二、难点预估.......................................................................................................................20三、机械手主要功能.............................................................................................................21四、具体运动流程.................................................................................................................213.1.机械手示意图如图12所示：.................................................................................213.2.具体运动步骤（这部分就等编完了，最后看实现什么功能在写吧）...............223.2.1.自动运行(让震宇先生来写吧，或者他告诉我也行）...............................22五、程序设计..................................................................