【正文】 1 井式加熱爐抓取機(jī)械手電氣 控制系統(tǒng)的設(shè)計(jì) 作者姓名： 王強(qiáng) 專業(yè)名稱： 自動化 指導(dǎo)教師： 楊斌 講師 2 摘要 工業(yè)機(jī)械手是一種仿人操作、自動控制、可重復(fù)編程且能在四維空間完成各種作業(yè)的機(jī)電一體化自動生產(chǎn)設(shè)備。對穩(wěn)定和提高產(chǎn)品質(zhì)量，提高生產(chǎn)效率，改善勞動條件和產(chǎn)品的快速更新?lián)Q代起著十分重要作用，特別適合于多品種、變批量的柔性生產(chǎn)。 本課題主要任務(wù)是設(shè)計(jì)一抓取機(jī)械手來完成無人化工廠中某一階段性工作。機(jī)械手系統(tǒng)采用圓柱坐標(biāo)方式，由 PLC 作為中央控制單元，控制三路交流伺服驅(qū)動器 、 位置單元模 塊 及其它功能塊 ，驅(qū)動各軸伺服電機(jī)準(zhǔn)確定位。定位完成后，再執(zhí)行手部抓取動作，以完成指定任務(wù)。設(shè)計(jì)了上位機(jī)組態(tài)，方便人們監(jiān)視現(xiàn)場運(yùn)行情況以及實(shí)現(xiàn) 故障準(zhǔn)確定位，并簡單敘述系統(tǒng)參數(shù)設(shè)置及調(diào)試方法。 本文重點(diǎn)解決的問題 —— 電氣控制系統(tǒng)設(shè)計(jì) 本課題中主要內(nèi)容： (1) 機(jī)械手方案設(shè)計(jì)及驅(qū)動電機(jī)選型； (2) 電氣 控制 系統(tǒng) 硬件線路 設(shè)計(jì)； (3) 控制系統(tǒng)程序設(shè)計(jì)； (4) 上位機(jī)組態(tài)設(shè)計(jì) 及系統(tǒng)調(diào)試 ； 關(guān)鍵詞：機(jī)械手 交流伺服控制器 PLC 組態(tài) 松下 3 Abstract Industrial machinery hand is a fake person operation, automatic control, programmable and can plete all kinds of operations in fourdimensional space electromechanical integration automatic production equipment. To stabilize and improve product quality, improve production efficiency, improve labor conditions and the rapid upgrading of products plays a very important role, especially suitable for many varieties, varying quantities of flexible production. The main task is to design a gripping manipulator to plete no chemical plant in a phased work. Manipulator system using a cylindrical coordinate, by PLC as the central control unit, control of three AC servo driver, position unit module and other functional blocks, the axis servo motor positioning. Positioning is pleted, then the execution of hand grasping movements, to plete the assigned task. Design of PC configuration, convenient for people to monitor the site operation and the realization of accurate fault location, and briefly narrates system parameter setting and debugging method. This paper focus on solving problems electrical control system design In this paper the main contents: (1) manipulator design and drive the motor selection。 (2) the electrical control system hardware circuit design。 (3) the control system program design。 (4) PC configuration design and system debugging。 Key words: manipulator, Panasonic, AC servo controller, PLC, configuration 4 目錄 摘要 .................................................................................................................... 2 Abstract ............................................................................................................... 3 目錄 .................................................................................................................... 4 前言 .................................................................................................................... 6 1 緒論 ................................................................................................................ 8 機(jī)械手概況 ........................................................................................... 8 機(jī)械手簡史 .......................................................................................... 8 機(jī)械手發(fā)展?fàn)顩r .................................................................................. 9 簡述機(jī)械手分類 ................................................................................ 10 機(jī)械手發(fā)展趨勢 ................................................................................ 12 本課題任務(wù) ........................................................................................ 12 2 抓取機(jī)械手方案設(shè)計(jì) ................................................................................... 14 機(jī)械手總體結(jié)構(gòu)設(shè)計(jì)及基本參數(shù) ..................................................... 14 手部結(jié)構(gòu)設(shè)計(jì) ..................................................................................... 15 機(jī)械手移動基座設(shè)計(jì) ......................................................................... 17 基座設(shè)計(jì) ...................................................................................... 17 基座伺服電機(jī)選型 ..................................................................... 18 升降系統(tǒng)機(jī)構(gòu)設(shè)計(jì) ............................................................................ 20 升降機(jī)構(gòu)設(shè)計(jì) ............................................................................. 20 升降伺服電機(jī)選型 ..................................................................... 21 3 機(jī)械手電氣控制系統(tǒng)設(shè)計(jì) ........................................................................... 23 伺服電機(jī)及驅(qū)動器簡介 .................................................................... 23 交流伺服電機(jī) ............................................................................... 23 伺服控制器 ................................................................................... 24 機(jī)械手電氣系統(tǒng)設(shè)計(jì) ........................................................................ 26 主電路設(shè)計(jì) .................................................................................. 26 控制電路設(shè)計(jì) .............................................................................. 29 4 機(jī)械手控制系統(tǒng)設(shè)計(jì) ................................................................................... 32 可編程邏輯控制器 ............................................................................ 32 系統(tǒng) I/O 點(diǎn)數(shù)及地址分配 ................................................................ 36 系統(tǒng)程序設(shè)計(jì) .................................................................................... 38 加熱爐放料程序設(shè)計(jì) ................................................................. 39 加熱爐取料及淬火程序設(shè)計(jì) ..................................................... 45 5 上位機(jī)組態(tài)及系統(tǒng)調(diào)試 ................................................................................ 48 組態(tài)概念介紹 .................................................................................... 48 機(jī)械手系統(tǒng)組態(tài)設(shè)計(jì) ........................................................................ 49 總結(jié) .................................................................................................................. 51 5 致謝 .................................................................................................................. 52 參考文獻(xiàn) ......................................................................................