-自动螺钉装配机械手控制系统设计电气工程及其自动化大学论文.docVIP

自动螺钉装配机械手 控制系统设计 作者姓名： 专业名称：电气工程及其自动化 指导教师： 讲师 摘要 随着电力电子技术、自动控制技术、信息通信技术的迅速发展，螺钉输送机及二维机械手的应用也越来越广泛。单片机、可编程序控制器PLC等自动控制仪器运用已十分普遍，它们的特点是通过编程来完成各种预期的作业任务，在构造和性能上兼有人和机器各自的优点，尤其体现了人的智能和适应性。 论文研究以螺钉输送机和X-Y装配机械手为研究主体，利用可编程控制器(PLC)作为控制系统的主要控制单元，结合伺服控制以及触摸屏等工业控制技术，实现螺钉装配机的全自动控制。采用步进电机和伺服电机相结合的控制方法实现拧螺钉，使得装配螺钉的速度快，定位精确，拧螺钉效率高；触摸屏和PLC的结合，让控制系统的性能更加安全可靠，使得整套设备成为操作方便、高效自动化的机电一体化产品。 论文首先简要介绍了自动螺钉装配机械手的控制系统及其实现，然后对各部分的结构、功能、工作流程以及基本参数进行了说明，最后完成电气原理图的设计制作、自动螺丝输送机及平面二维移动机械手的PLC控制编程及控制系统的实现。 自动控制技术在当今工业生产中起着极其重要的作用，自动机械手作业的准确性和在各种环境中完成作业的能力，使其在国民经济各领域有着广阔的发展前景。 关键词 ：机械手 自动控制 PLC 控制编程  Abstract With the development of power electronic technology, automatic control technology, information and communication technology rapid development, application of screw conveyor and planar manipulator is more and more widely. Single chip, programmable controller PLC automatic control instrument used has been very popular, they are characterized by a variety of programming to complete the desired tasks, in the structure and performance of both people and machines to their respective advantages, especially the peoples intelligence and adaptability. Based on screw conveyor and X-Y assembly manipulator as the research subject, the use of programmable logic controller (PLC) as the main control unit control system, the servo control and touch screen, industrial control technology, automatic control screw assembly machine. Control method of the step motor and servo motor are combined into the screw, the screw assembly of fast, accurate positioning, high efficiency of screw; combined with touch screen and PLC, so the performance of the control system is safe and reliable, which makes the whole equipment become convenient operation, high automation, electromechanical integration products. The paper briefly introduces the control system of automatic screw assembly manipulator and its implementation, and then on the part of the structure, function, work flow and basic parameters are described, finally