【正文】 I I 工業(yè)機(jī)械手模型 基于 PLC 的控制系統(tǒng)軟硬件設(shè)計 學(xué)生姓名： 學(xué)生學(xué)號： 院 （系）： 年級專業(yè)： 指導(dǎo)教師： II I 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，增加了工人的勞動強(qiáng)度，甚至于危及生命。工業(yè)機(jī)械手就這樣誕生了 ,機(jī)械手是工業(yè)機(jī)器人系統(tǒng)中傳統(tǒng)的任 務(wù)執(zhí)行機(jī)構(gòu)，是機(jī)器人的關(guān)鍵部件之一。電氣方面有電機(jī)、開關(guān)電源、電磁閥、等電子器件組成。該裝置涵蓋了可編程控制技術(shù)，位置控制技術(shù)、氣動技術(shù)等，是機(jī)電一體化的典型代表儀器之一。本文介紹的機(jī)械手是由 PLC 輸出四路來分別驅(qū)動橫軸、豎軸、底盤轉(zhuǎn)動、手轉(zhuǎn)動電機(jī)，控制機(jī)械手橫軸和豎軸的精確定位，微動開關(guān)將位置信號傳給 PLC 主機(jī)；電機(jī)拖動手爪和底盤旋轉(zhuǎn)；電磁閥控制氣閥的開關(guān)來控制機(jī)械手手爪的張合，從而實(shí)現(xiàn)機(jī)械手精確運(yùn)動的功能。本課題擬開發(fā)的工業(yè)機(jī)械手模型可在空間抓放物體，動作靈活多樣，可代替人工在高溫和危險的作業(yè)區(qū)進(jìn)行作業(yè) ，并可根據(jù)工件的變化及運(yùn)動流程的要求隨時更改相關(guān)參數(shù)。 關(guān)鍵字 ：可編程控制器 PLC,機(jī)械手 ,電機(jī) ,任意位置 Ⅱ II 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 worker39。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 ponents. The electrical aspect has theelectrical machinery, the switching power supply, the solenoid valve,and so on the electronic device position. 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 zaxis, the chassisrotation, hand turns an electric motor, controls the manipulatorabscissa axis and the zaxis 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. 1 目錄 摘 要 ........................................................................................................................ II ABSTRACT ............................................................................................................. II 1 緒論 ......................................................................................................................... 1 課題背景 ............................................................................................................ 1 設(shè)計的目的和意義 ........................................................................................ 2 設(shè)計要求 ............................................................................................................. 3 控制要求 ...................................................................................................... 3 PLC 的發(fā)展概況 .................................................................................................. 4 可編程控制器的產(chǎn)生 ..................................................................................... 4 PLC 的定義 ................................................................................................... 4 PLC 的特點(diǎn) ................................................................................................... 5 2 機(jī)械手概述 ............................................................................................................ 6 機(jī)械手的定義與分類 ........................................................................................... 6 機(jī)械手發(fā)展情況 .................................................................................................. 7 機(jī)械手的發(fā)展趨勢 ............................................................................................... 8 3 控制系統(tǒng)硬件設(shè)計 ................................................................................................ 9 PLC 的選型 ......................................................................................................... 9 常用 PLC 介紹 ............................................................................................. 9 確定型號 FX1N－ 60MR ............................................................................. 13 FX1N 所具有優(yōu)越性能 ................................................................................ 13 FX 系列 PLC 型號的說明 ............................................................................ 16 三菱 FX 系列的結(jié)構(gòu)功能 .................................................................................. 16 PLC 內(nèi)部功能 ............................................................................................. 17 PLC 輸入輸出接口的安全保護(hù) ..................................................................... 18 手持編程器 FX－ 20P－ E的使用 ....................................................................... 18 HPP 的組成與操作面板 ............................................................................... 19 HPP 的操作過程 .......................................................................................... 21 2 4 各功能實(shí)現(xiàn)形式與控制方式 ............................................................................... 25 本機(jī)械手模型的機(jī)能和特性 .............................................................................. 25 夾緊機(jī)構(gòu) .......................................................................................................... 25 軀干 .................................................................................................................. 25 旋轉(zhuǎn)編碼盤 .................................................