基于PLC的四自由度机械的手控制系统.docVIP

河北农业大学 毕业论文 题 目： 基于PLC的四自由度机械手控制系统 摘要 可编程序控制器（Programmable controller）简称PLC，由于PLC的可靠性高、环境适应性强、灵活通用、使用方便、维护简单，所以PLC的应用领域在迅速扩大。对早期的PLC，凡是有继电器的地方，都可采用。而对当今的PLC几乎可以说凡是需要控制系统存在的地方就需要PLC。尤其是近几年来，PLC的成本下降，功能又不段增强，所以，目前PLC在国内外已被广泛应用于各个行业。本文介绍的机械手是由PLC输出多路脉冲，分别驱动横轴、竖轴变频器，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；位置信号由接近开关反馈给PLC主机，通过交流电机的正反转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。本课题拟开发的物料搬运机械手可在空间抓放物体，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。 关键词：机械手 PLC Abstract Programmable is referred as to the PLC. With the high reliability, adaptability in environment and flexibility, the PLC is widely used and expanding in the fields of application. Where there need control systems, the PLC can be used. Especially in recent years, the low cost, increased feature without enhancement, therefore, he current PLC has been widely used in various industries inland and abroad. This paper presents a manipulator by several PLC output pulses, driving horizontal, the vertical axis transducer, controlling manipulator axis horizontal and vertical positioning precision, micro-switches position signal transmission which send message to PLC. Location signal is to be the feedback from switching from the mainframe to the PLC. With the exchange of Motor reversion to control the open and join of the manipulator, accurate manipulator movement functions can be realized. The topic is to develop the manipulator grasping objects in space, moving flexibly. What’s more, it can replace the artificial to conducted operations in heat and dangerous zones. According to the workpiece， we can change the work process and change the relevant parameters if the requirements need. Key Words: Manipulator PLC control 目 录 1 绪论 4 1.1现状 4 1.2机械手的发展概况 4 1.3 PLC的发展概况 5 1.4 PLC的定义 6 1.5 PLC的特点 7 1.6 PLC的工作原理 7 1.7本课题的目的和意义 10 2系统结构的确定 11 2.1工业机械手概述 11 2.2机械手设计 11 2.2.1机械手组成 11 2．2.2机械手参数 13 2.3四自由度机械手的结构及动作过程 14 2.4控制器件选型 15 2.4.1步进电机 15 2.4.2步进电机驱动器 16 2.4.3 直流电机 18 2.4.4旋转编码器： 18 2.4.5 PLC