【正文】 機(jī)械手畢業(yè)設(shè)計(jì)論文 第 1 頁 共 36 頁 目 錄 摘要 ...................................................................... 2 ABSTRACET................................................................. 3 引言 ...................................................................... 5 1 PLC 的發(fā)展歷程和構(gòu)成 ................................................... 7 PLC 的發(fā)展史 ...................................................... 7 PLC 的構(gòu)成 ......................................................... 8 CPU 的構(gòu)成 ......................................................... 8 模塊 ........................................................... 8 電源模塊 ........................................................... 9 底版和機(jī)架 ......................................................... 9 PLC 系統(tǒng)的其他設(shè)備 ................................................. 9 2 機(jī)械手的組成 .......................................................... 10 機(jī)械手的發(fā)展 ...................................................... 10 動力臂的機(jī)械構(gòu)造 .................................................. 10 控制和動力臂的機(jī)械構(gòu)造 ............................................ 11 位置控制系統(tǒng) ...................................................... 11 負(fù)載反傳系統(tǒng) ...................................................... 11 3 機(jī)械手 PLC 的發(fā)展歷程和構(gòu)成 ............................................. 12 根據(jù)工藝過程分析控制要求 .......................................... 12 確定所需的用戶輸入 /輸出設(shè)備及 I/O 點(diǎn)數(shù) ............................. 15 PLC 的選擇 ........................................................ 18 分配 PLCI/O 點(diǎn)的編號 (定義號 )....................................... 18 PLC 程序設(shè)計(jì) ...................................................... 18 4 英文資料 .............................................................. 30 個人小結(jié) ................................................................. 35 參考文獻(xiàn) ................................................................. 46 機(jī)械手畢業(yè)設(shè)計(jì)論文 第 2 頁 共 36 頁 機(jī)械手的 PLC 控制 設(shè)計(jì)及調(diào)試 摘要 機(jī)械手 能模仿人手和臂的某些動作功能，用以按固定程序抓取、搬運(yùn)物件或操作工具的自動操作裝置。它可代替人的繁重勞動以實(shí)現(xiàn)生產(chǎn)的機(jī)械化和自動化，能在有害環(huán)境下操作以保護(hù)人身安全，因而廣泛應(yīng)用于機(jī)械制造、冶金、電子、輕工和原子能等部門。 機(jī)械手主要由手部和運(yùn)動機(jī)構(gòu)組成。手部是用來抓持工件（或工具）的部件，根據(jù)被抓持物件的形狀、尺寸、重量、材料和作業(yè)要求而有多種結(jié)構(gòu)形式，如夾持型、托持型和吸附型等。運(yùn)動機(jī)構(gòu)，使手部完成各種轉(zhuǎn)動（擺動）、移動或復(fù)合運(yùn) 動來實(shí)現(xiàn)規(guī)定的動作，改變被抓持物件的位置和姿勢。運(yùn)動機(jī)構(gòu)的升降、伸縮、旋轉(zhuǎn)等獨(dú)立運(yùn)動方式，稱為機(jī)械手的自由度 。為了抓取空間中任意位置和方位的物體，需有 6 個自由度。自由度是機(jī) 械手設(shè)計(jì)的關(guān) 鍵參數(shù)。自由 度越多，機(jī)械手的靈活性越大，通用性越廣，其結(jié)構(gòu)也越復(fù)雜。一般專用機(jī)械手有 2～ 3個自由度。 機(jī)械手的種類，按驅(qū)動方式可分為液壓式、氣動式、電動式、機(jī)械式機(jī)械手；按適用范圍可分為專用機(jī)械手和通用機(jī)械手兩種；按運(yùn)動軌跡控制方式可分為點(diǎn)位控制和連續(xù)軌跡控制機(jī)械手等。 機(jī)械手通常用作機(jī)床或其他機(jī)器的 附加裝置，如在自動機(jī)床或自動生產(chǎn)線上裝卸和傳遞工件，在加工中心中更換刀具等，一般沒有獨(dú)立的控制裝置。有些操作裝置需要由人直接操縱，如用于原子能部門操持危險物品的主從式操作手也常稱為機(jī)械手 關(guān)鍵詞 :點(diǎn)控制機(jī)械手 連續(xù)控制機(jī)械手 可編程控制技術(shù) 機(jī)械手畢業(yè)設(shè)計(jì)論文 第 3 頁 共 36 頁 ABSTRACT The manipulator can imitate the manpower and the arm certain movement functions, with by presses the fixed routine to capture, the transporting thing 39。or39。 operation tool automatic operation installment. It may replace human39。s strenuous labor by to realize the production mechanization and the automation, can operate under the harmful environment by protects the personal safety ,Thus widely applies in department and so on machine manufacture, metallurgy, electron, light industry and atomic energy. The manipulator mainly is posed by the hand and the motion. The hand is uses for to grasp holds the work piece (or tool) a part, according to is grasped holds the thing the shape, the size, the weight, the material and the work request but has the many kinds of structural style , Like supporting on both sides, request holding and adsorption and so on. motion , causes the hand to plete each kind of rotation (to swing), the migration or the pound motion realizes the stipulation movement , the change is grasped holds the thing the position and the posture. The motion fluctuation, the expansion and contraction, revolves and so on the independence movement way , is called manipulator39。s degree of freedom. In order to capture in the space the free position and the position object , must have 6 degrees of freedom. The degree of freedom is the essential parameter which the manipulator designs. The freedom goes past much , manipulator39。s flexibility is bigger ,the versatility is broader , Its structure is also more plex. The mon specialpurpose manipulator has a 2~3 degree of freedom. Manipulator39。s type, may divide into the hydraulic pressure type air operated according to the drive type, like, electromotive type, the mechanical type manipulator。 May divide into the specialpurpose manipulator and the generalpurpose manipulator two kinds according to the applicable scope。 may divide into the position control and the continual trajectory control manipulator according to the path control mode and so on. The manipulator usually serves as the engine bed or other machines addon 機(jī)械手畢業(yè)設(shè)計(jì)論文 第 4 頁 共 36 頁 ponents , like on automatic engine bed or automatic production line loading and unloading and transmission work piece, Replaces the cutting tool in the processing center and so on, does not have the independent control device generally. Somewhat operates the equipment to need by the human direct control, like uses in the host which the atomic energy department manages the dangerous goods from the type operator also often being called the manipulator. Keywords: position control manipulator continual trajectory control manipulator PLC 機(jī)械手畢業(yè)設(shè)計(jì)論文 第 5 頁 共 36 頁 引言 機(jī)械手是一種能模擬人的手臂的部分動作，按預(yù)定的程序、軌跡及其它要求，實(shí)現(xiàn)抓取、搬運(yùn)工件或操縱工具的自動化裝置； 本設(shè)計(jì)中的機(jī)械手采用關(guān)節(jié)式結(jié)構(gòu)。各動作由液壓驅(qū)動，并由電磁閥控制。動作順序及各動作時間的間隔采用按時間原則。 機(jī)械手的結(jié)構(gòu)主要由手指，手腕，小臂和大臂等幾部分組成。料架為旋轉(zhuǎn)式，由料盤和棘輪機(jī)構(gòu)組成。每次轉(zhuǎn)動一定角度（由工件數(shù)決定）以保證待加工零件對準(zhǔn)機(jī)械手。 而可編程控制器（ＰＬＣ）由于其具有的高可靠性、編程方便、易于使用和修改，易于擴(kuò)展和維護(hù)，環(huán)境要求低、體積小巧，安裝調(diào)試方便 ，在工業(yè)控制中有著廣泛的應(yīng)用。 PLC 控制系統(tǒng)采用三菱 F1 系列超小型 PLC 對機(jī)械手進(jìn)行動作控制。各動作由油泵電機(jī)（采用 ）液壓驅(qū)動，并由電磁閥控制。其中油泵電機(jī)及各電磁閥運(yùn)行狀態(tài)均有指示燈顯示 根據(jù)我們所設(shè)計(jì)的機(jī)械手的驅(qū)動部件為步進(jìn)電機(jī)的特點(diǎn)，應(yīng)用ＰＬＣ移位寄存ＳＦＴ指令可以很方便、靈活地對機(jī)械手進(jìn)行控制。