机械 毕业设计 论文 课程设计

摘  要

在工业生产和其他领域内，由于工作的需要，人们经常受到高温、腐蚀及有毒气体等因素的危害，甚至于危及生命。工业机械手就这样诞生了,机械手是工业机器人系统中任务执行机构，是机器人的关键部件之一。其电气方面有电机、开关电源、电磁阀、等电子器件组成。该装置涵盖了可编程控制技术，位置控制技术、气动技术等，是机电一体化的典型代表仪器之一。本文介绍的机械手是由PLC输出四路来分别驱动横轴、竖轴、底盘转动、手转动电机，控制机械手横轴和竖轴的精确定位，微动开关将位置信号传给PLC主机；电机拖动手爪和底盘旋转；电磁阀控制气阀的开关来控制机械手手爪的张合，从而实现机械手精确运动的功能。本课题拟开发的工业机械手模型可在空间抓放物体，动作灵活多样，可代替人工在高温和危险的作业区进行作业，并可根据工件的变化及运动流程的要求随时更改相关参数。

关键字 机械手,可编程控制器PLC,位置控制

ABSTRACT

In terms of industrial production and other fields, as a result of the working needs , people often accept the factor damage such as the high temperature , corrosion and toxic gas,even life-threatening. The industry manipulator like this was born; the manipulator which is one of robot key components is in the industry robot assembly system the duty implementing agency. There are electrical machinery,switching power supply, electromagnetic valve, electronic device composition and so on. This equipment which is the integration of machinery model represents one of instruments has covered the programmable control technology, the positions control technology, the air operated technology and so on. This article introduced the manipulator, it outputs four groups by PLC to actuate the abscissa axis, the z-axis, the chassis rotation, hand-rotating motor separately, and controls the manipulator abscissa axis and the z-axis pint pointing, the micro switch bequeaths the position signal to the PLC main engine; The electrical machinery drives the hand fingernail and the chassis revolve; The solenoid valve controls air valve the switch to control the manipulator hand fingernail to gather, then realizes the manipulator proper motion function. This topic plans to develop the industry manipulator model, and it is to be possible to grasp and puts the object nimbly in the space, whose movement is diverse,it may replace human’s work in high temperature and the dangerous operation area, and may change there lasted parameters when it is necessary according to the work pieces changing and the movement flowing request.

Key words manipulator,Programmable controller PLC, position control

目  录

摘  要 I
ABSTRACT II

1  绪 论 1
1.1 课题背景 1
1.2设计要求 1
1.3控制要求 2
1.4 PLC的发展概况 2
1.4.1可编程控制器的产生 3
1.4.2 PLC的定义 3
1.4.3 PLC的特点 4
2  机械手概述 5
2.1 机械手的定义与分类 5
2.2 机械手发展情况 6
2.3机械手的发展趋势 7
3  控制系统硬件设计 8
3.1 PLC的选型 8
3.1.1 常用PLC介绍 8
3.1.2 确定型号FX1N－60MR 11
3.1.3 FX1N所具有的优越性能 12
3.1.4 FX系列PLC型号的说明 14
3.2 三菱FX系列的结构功能 15
3.2.1 PLC内部功能 16
3.2.2 PLC输入输出接口的安全保护 16
3.3 手持编程器FX－20P－E 17
3.3.1 HPP的组成与操作面板 17
3.3.2程序的修改 19
4  各功能实现形式与控制方式 21
4.1 本机械手模型的机能和特性 21
4.2 夹紧机构 21
4.3躯干 21
4.4旋转编码盘 22
5  软件设计 23
5.1 编程软件的使用 23
5.2 FX1N PLC梯形图中的编程元件 24
5.3 程序的总体结构 25
5.4 各部分程序 26
5.5 PLC程序的上载和下载 36
5.5.1 PLC程序的上载 36
5.5.2 PLC程序的下载 36
结  论 37
参 考 文 献 38
附录A:PLC接线图 39
附录B:指令表 40
致  谢 44