搬动机械手PLC控制系统设计..doc

搬动机械手PLC控制系统设计 摘要：本次设计分为机械夹持器的设计，步进电机的选择与计算和PLC程序的编写。 机械夹持器的设计首先要确定被夹持物体的质量和大 ... P摘要：本次设计分为机械夹持器的设计，步进电机的选择与计算和程序的编写。BR机械夹持器的设计首先要确定被夹持物体的质量和大小。从被夹持物体的质量计算出V形手掌的摩擦力，从摩擦力计算出需要弹簧的弹力，然后根据公式和图表选择弹簧的种类和规格。BR从物体的大小可以设计出机械夹持器V形手掌的大小，和大小齿轮的种类和规格。BR步进电机在选择和计算之前必须确定步进电机在传动过程中的扭矩，然后根据扭矩选择与之相匹配的步进电机。BR程序的编写。编写程序之前应先了解步进电机。然后计算出步进电机转一周需要的脉冲个数，根据丝杠的导程和机械手行动的距离计算出PLC提供的脉冲个数。控制分自动和手动两种工作方式，在各自执行的过程中不能相互干扰。(毕业设计网 )BR关键词：机械夹持器，步进电机，PLCBRBRMoveable Maniplator PLC Control System DesignBRAbstract：This design into the design of mechanical clamping, stepper motor selection and calculation procedures for the preparation and PLC. BRThe design of mechanical clamping first was gripping objects to determine the quality and size. Gripping objects from the calculation of the quality of the V-shaped palm friction from the friction of the elasticity needed the spring, then spring formulas and charts choice of the type and specifications. span class=Mao500/span BRFrom the size of objects can be designed for mechanical clamping of the V-shaped palm-size, the type and size of gear and specifications. BRStepper motor in the choice and calculation must be determined before the stepper motor drive torque in the process, and then select them in accordance with torque to match the stepper motor. BRProcedures for the preparation. Preparation procedures prior understanding stepper motor. Calculation of the stepper motor week to the needs of the number of pulses, according to the lead screw-lead and manipulator action PLC calculate the distance between the pulse number. Automatic and manual control of the two methods of work, in the process of their implementation can not interfere with each other. BRKey words: mechanical clamping, stepper motor, PLC p class=Mao500/p /P PBRBRBRBRBR目录BR毕业设计任务书…………………………………………………………………… ⅠBR毕业设计调研报告………………………………………………………………… ⅡBR摘要………………………………………………………………………………… ⅢBRAbstract………………………………………………………………………………ⅣBR绪论……………………………………………………………………………………1BR第一章nbsp;　PLC简介BR1．nbsp;PLC