基于PLC的机械手控制【毕业论文+CAD图纸全套】.doc

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，增加了工人的劳动强度，甚至于危及生命。自从机械手问世以来， 相应的各种难题迎刃而解。机械手可在空间抓、放、搬运物体，动作灵活多样，适用 于可变换生产品种的中、小批量自动化生产，广泛应用于柔性自动线。此设计基于PLC 为基础，设计一种三自由度机械手的控制系统，实现了对多个步进电机的开环控制， 并运用组态王Kingview软件绘制上位机程序。机械手设计主要是依靠限位开关和步进 电机的控制及推动来实现的。机械手的所有动作均采用脉冲控制、电驱动。它的上升 /下降、左移/右移和左旋转/右旋转均采用步进电机完成。机械 手的动作转换依靠限 位开关来控制并且按照一定的顺序动作。本设计所用机械部件有模拟机械手爪，电气 方面有PC、欧姆龙CP1H、开关电源、电机驱动器等部件。 关键词:PLC；步进电机；机械手；控制系统  3  Abstract In industrial production and other areas, as a result of the need, people often subjected to high temperature, corrosive and toxic gas hazards, increased labor intensity, and even life-threatening. Since the advent of robot, all kinds of problems solved. Robot caught in the space, put, handling objects, actions flexible, applicable to transform the production of varieties in small-volume automated production, widely used in flexible automatic line. This design is based on the PLC-based control system design of a three-degree-of-freedom robot, multiple stepper motor open-loop control, and the use of configuration the king KingView software draw host computer program. Robot designed primarily limit switches and stepper motor control and promote. All the actions of the robot are used pulse control, electric drive. It up / down, left / right and left rotation / right rotation is completed by a stepping motor. Converting the movement of the manipulator to rely on the limit switch to control and according to a certain sequen ce of actions. The design mechanical components with analog mechanical gripper, electrical PC Omron CP1H, switching power supplies, motor drives and other components. Key words: PLC；Stepping motor；Manipulator；Control syst  摘 要 Abstract  目 录  第 1 章 绪 论 .......................................................... 1 1.1 机械手的背景 .............................................................