PLC毕业设计.pdf

摘 要 本文对PLC 控制的机械手进行了探究，确定了机、电一体化的设计方案，把电传动和机 械结构合理地融合在机械手的协调动作中，相互之间取长补短。其中，工件的移动通过步进 电机实现，同时采用了三菱的FX 系列PLC 作为控制器。最终达到能够安全、稳定、准确地完 成搬运的目的。 首先，简单介绍了本课题的来源、意义和内容，回顾了国内外机器人（机械手）的发展 概况。 其次，给出了本课题的研究依据，对机械手的机械系统方案进行了设计，确定了整体结 构和机、电一体化的实现方法，画出了各主要部件的机械结构图。 再次，简要地进行了机械手运动分析，对驱动、传动系统进行了方案设计，并进行了丝 杠、导轨和步进电机等主要部件的选取和校验。 最后，总结了全文，指出了机械手的改进措施、应用前景和发展方向。本课题是一个机、 电结合较为紧密的实用性项目，文中对PLC 的应用、机械结构的设计、控制方法的选择等方 面进行了必要的探讨，在机电一体化方面进行了一定的研究，在机械手的设计与研制方面积 累了很多宝贵而实用的经验。 关键词：机械手PLC （可编程控制器）运动控制 步进电机 Abstract The text will research into the problem of the manipulatorcontroled by PLC. and confirm design project that the mechanics and electricsare used together.The electric and mechanical are combined agreeably in the coordinating actions of the manipulator,they could complement the deficiency with the other’s advantage.In this equipment, the motions of the work pieces is completed by repeating motor. Meanwhile,the writer adopts the MITSUBISHI’s FX series of PLC as controller.It is sure that the task is completed more safely,steadily,well andtruly. Firstly,the writer introduces the resource,content and practical application value of the thesis,and reviews the development of robots inside and abroad 。 Secondly,the writer introduces the gist of research,designs the machine system project of the manipulator,confirms the configuration and the realization way with the machinery and electricity motivated and draws the machine configuration picture of master parts. Thirdly,the writer analyses simply the kinematics of the manipulator,designs the projectof driving system and transmission system,selects and checks thread-bar,guide, repeating motor and so on. Finally,the writer summarizes the whole thesis and points out the amelioration, perspective and developing directi