基于PLC的五自由度机械手操控(含梯形程序图,结构图)(论文设计说明书21000字,CAD图7张)
本设计的机械手。
摘 要
在工业生产和其他领域内,增加了工人的劳动强度,可代替人工在高温和危险的作业区进行作业,动作灵活多样,位置操控技术、气动技术等,从而实现机械手精确运动的功能。即：手臂前后伸缩、手臂上下伸缩、手臂左右旋转、手腕回转、手指的抓握。
关键词：可编程操控器PLC,机械手,电机,任意位置
The control of manipulater by PLC
ABSTRACT
In industrial production and other domains, because works need, the people frequently receive factor the and so on high temperature,corrosion and virulent gas harm, increased worker's labor intensity,even endangers life. The industry manipulator like this was born, the manipulator is in theindustry robot assembly system the traditional duty implementingagency, is one of robot key components. The electrical aspect has theelectrical machinery, the switching power supply, the solenoid valve,and so on the electronic device composition. This equipment has covered the programmable control technology, theposition control technology, the air operated technology and so on, isthe integration of machinery model represents one of instruments. Thisarticle introduced the manipulator is outputs four groups by PLCseparately to actuate the abscissa axis, the z-axis, the chassisrotation, hand turns an electric motor, controls the manipulatorabscissa axis and the z-axis pintpointing, the microswitch bequeathsthe position signal the PLC main engine; The electrical machinerydrives the hand fingernail and the chassis revolves; The solenoidvalve controls the air valve the switch to control the manipulatorhand fingernail to gather, thus realizes the manipulator proper motionfunction. This topic plans the industry manipulator model which develops to bepossible in the space to grasp puts the object nimbly, the movement isdiverse, may replace artificially carries on the work in hightemperature and the dangerous operation area, and may changes therelated parameter as necessary according to the work piece change and the movement flow request.
KEY WORDS: Programmable controller PLC, manipulator,electrical machinery, freeposition
目 录
前 言 1
第1章 机械手各功能实现形式与操控方法 2
1.1机械手概述 2
1.1.1机械手的定义与发展 2
1.1.2机械手分类及操控方法 3
1.1.3机械手的结构原理 3
1.2本机械手模型的机能和特性 5
1.3夹紧机构 5
1.4躯干 6
1.5设计要求 6
1.5.1操控方法及要求 7
1.6旋转编码盘 9
第2章 操控系统硬件设计 10
2.1 PLC的定义及特点 10
2.2 PLC的选型 12
2.2.1常用PLC介绍 12
2.2.2常用PLC介绍 14
2.2.3确定型号FX1N－60MR 16
2.2.4 FX1N所具有优越性能 17
2.2.5 FX系列PLC型号的说明 17
2.3三菱FX系列的结构功能 18
2.3.1 PLC内部功能 19
2.3.2 PLC输入输出接口的安全保护 20
2.4 FX1N PLC梯形图中的编程元件 21
第3章 软件设计 23
3.1程序的总体结构 23
3.2各部分程序如下 24
结 论 33
谢 辞 34
参考文献 35
附 录 37
外文资料翻译 45