【正文】 基于PLC的機(jī)械手控制系統(tǒng)設(shè)計(jì)目 錄摘 要…………………………………………………………………………………………..ⅠAbstract…………………………………………………………………………...…………...Ⅱ第1章 緒 論…………………………………………………………………………...………1 課題研究目的及意義………………………………………………………...………….1 國(guó)內(nèi)外機(jī)械手研究概況……………………………………………………...………….2 課題研究的內(nèi)容……………………………………………………………...………….3第2章 方案設(shè)計(jì)與論證…………………………………………………………...…………..4 方案設(shè)計(jì)………………………………………………………………............................4 方案論證……………………………………………………………………...………….5 方案確定………………………………………………………………...……………….7第3章 系統(tǒng)硬件設(shè)計(jì)…………………………………………………………...……………..8 主電路設(shè)計(jì)…………………………………………………………………...….………8 熔斷器的選擇……………………………………………………...……….…...…8 熱繼電器的選擇………………………………………………...……….……...…8 接觸器的選擇…………………………………………………...……...……….…9 系統(tǒng)主電路圖………………………………………………………..………….…9 傳感器設(shè)計(jì)…………………………………………………………...…………………10 傳感器的選型…………………………………………………...…...……………10 傳感器的工作原理…………………………………………...……...……………11 行程開關(guān)的設(shè)計(jì)………………………………………………...………………………11 行程開關(guān)的選型…………………………………………...……….……………..11 行程開關(guān)的工作原理………………………………………...…………………...12 PLC控制電路設(shè)計(jì)………………………………………………………...…………….12 PLC的基本結(jié)構(gòu)……………………………………………...……………………12 PLC的工作原理……………………………………………...……………………13 PLC的掃描運(yùn)行方式……………………………………...………………………13 PLC的特點(diǎn)………………………………………………...………………………14 PLC經(jīng)濟(jì)分析……………………………………………...………………………16 PLC的發(fā)展趨勢(shì)………………………………………………...…………………17 PLC的控制系統(tǒng)的保護(hù)措施………………………………...……………………17 PLC的選型........……………………………………………...……………………18 PLC外部接線圖…………………………………………...………………………20第4章 系統(tǒng)軟件設(shè)計(jì)………………………………………………………………………….21 PLC的軟件部分 …………………………………………………...…………………...21 系統(tǒng)總體設(shè)計(jì) …………………………………………………...……………………..22 機(jī)械手的動(dòng)作實(shí)現(xiàn)過(guò)程……………………………………...…………………...22 系統(tǒng)總體流程圖………………………………………………...………………...23 系統(tǒng)復(fù)位流程圖……………………………………………...…………………...23 機(jī)械手氣夾夾緊流程圖…………………………………...……………………...24 機(jī)械手氣夾放松流程圖…………………………………...……………………...25總結(jié) ……………………………………………………………………...…………………… 26參考文獻(xiàn) ………………………………………………………………...…………………… 27致謝 ………………………………………………………………...………………………… 28附錄 A系統(tǒng)總電路圖…… ……………………………………………………………………29附錄 B系統(tǒng)梯形圖…………………………………….………………………………………30摘 要在工業(yè)生產(chǎn)和其他領(lǐng)域內(nèi)，由于工作的需要，人們經(jīng)常受到高溫、腐蝕及有毒氣體等因素的危害，增加了工人的勞動(dòng)強(qiáng)度，甚至于危及生命。自從機(jī)械手問(wèn)世以來(lái)，相應(yīng)的各種難題迎刃而解。機(jī)械手能代替人類完成危險(xiǎn)、重復(fù)、枯燥的工作，減輕人類勞動(dòng)強(qiáng)度，提高勞動(dòng)生產(chǎn)力，因此機(jī)械手得到了越來(lái)越廣泛的應(yīng)用。本設(shè)計(jì)主要由硬件設(shè)計(jì)和軟件設(shè)計(jì)兩大部分組成，其中硬件設(shè)計(jì)包括主電路、控制電路以及電氣控制線路的設(shè)計(jì)，軟件設(shè)計(jì)包括流程圖和梯形圖的設(shè)計(jì)。主電路由電機(jī)、熱繼電器、熔斷器、接觸器構(gòu)成；控制電路由PLC控制器、傳感器、行程開關(guān)等構(gòu)成。本設(shè)計(jì)中由行程開關(guān)將位置信號(hào)傳給PLC主機(jī)，PLC分別控制各個(gè)交流電機(jī)的正反轉(zhuǎn)，從而控制機(jī)械手在橫軸與豎軸的運(yùn)動(dòng)；接近開關(guān)將位置信號(hào)反饋給PLC主機(jī)，通過(guò)控制交流電機(jī)的正反轉(zhuǎn)來(lái)控制機(jī)械手手爪的張合，從而實(shí)現(xiàn)機(jī)械手精確運(yùn)動(dòng)的功能。本課題設(shè)計(jì)的物料搬運(yùn)機(jī)械手可在空間抓放物體，動(dòng)作靈活多樣，并可根據(jù)工件的變化及運(yùn)動(dòng)流程的要求隨時(shí)更改相關(guān)參數(shù)。關(guān)鍵詞：機(jī)械手，PLC ，傳感器30AbstractIn the industrial production and other fields , because of the need of job, people often is affected by the harm of high temperature, corrosion and toxic gases ,these factors increase labor intensity of workers, and even lead to lifethreatening. Since the manipulator was born, the various difficult problems were easily solved. Robots can replace human consummately danger, repeat the boring work, ease human labor intensity and improve labor productivity, so robots have been applied more and more.This design mainly consist of the hardware design and software them, hardware design contains the main circuit ，control circuit and electrical control circuit design, software design contains the design of flowchart and ladderdiagram. Main circuit consist of motor, thermal relay, fuse, contactor；control circuit consist of PLC controller, sensors and travel switch, etc. In the paper，position signal is sent to PLC host by travel switch , PLC control the acmotor39。s positive amp。negative respectively, so as it can control the movement of manipulator on the horizontal axis and vertival axis。 position signal is sent to PLC host by approach switch, PLC host can control the paws of manipulator and realize the open and close by the control of acmotor39。s positive amp。negative, so as it can achieve the function of accurate motion. The subject design materials handling manipulator can catch and put objects in space, make the action flexible, according to the changes of workpiece and the movement process requirements，it can change the related parameters at any time. Keywords: manipulator, PLC, sensors第1章 緒論 隨著我國(guó)經(jīng)濟(jì)以及工業(yè)的不斷發(fā)展，機(jī)械手在工廠的地位變得越來(lái)越重要，因?yàn)樗軌蛟谌〈斯ぴ诟邷?、潮濕的環(huán)境下工作，更好的提高了工作效率，改善了工廠的收益。本章主要從課題研究的背景、目的及其意義等方面對(duì)該設(shè)計(jì)作出簡(jiǎn)要概述。 課題研究目的及意義機(jī)械手是工業(yè)自動(dòng)化領(lǐng)域中經(jīng)常遇到的一種控制對(duì)象。近年來(lái)隨著工業(yè)自動(dòng)化的發(fā)展機(jī)械手逐漸成