基于PLC与步进电动机机械手控制系统设计.docVIP

基于PLC与步进电动机的机械手控制系统设计 【摘要】Abstract With the development of science and technology, the requirement of automaticity becomes higher and higher; intense market competition, artificial rising costs, the mainly traditional transporting way of the previous artificially operation handling and fixed conveyor belt which not only occupy space but also is difficult to variable line structure, needs human supervision and operation, and increases production cost: the original production loading appliance can’t meet the current supermatic needs. To reduce labor intensity, ensure the reliability and safety of producing, reduce producing cost and environmental pollution, improve product quality and economic benefit is a significant problem that enterprise manufacturer must face. It’s integrated auto-control technology with measurement technique in the integration of electromechanical products which shares the advantages, such as easily controlled, conveniently operated, etc. This design employs stepping motor to control the feed of horizontal axis and vertical axis of manipulator, DC machine controls the rotation of manipulator arm and grasping; through the accurate positioning of grating bar and rotary encoder; through proximity switch and other transducers to enforce the accurate motion of manipulator. The designation of analog material transporting manipulator can grasp and place object in the space which is flexible and varied, and change relevant parameter at anytime according to the requirement of motion procedure to replace labors working in the high temperature and dangerous work zone. Key words：PLC；manipulator；transducer；rotary encoder；grating bar； stepping motor 目录 引言 1 1.程序控制器的简介 3 1.1可变程序控制器的概况 3 1.2 PLC的内部结构 4 1.2.1中央处理单元(CPU) 5 1.2.2存储器 5 1.2.3　PLC电源 7 1.3 PLC的工作原理 7 1.4 PLC机型选择方法 10 1.4.1 PLC的类型 10 1.4.2输入输出模块的选择 11 1.4.3电源的选择 11 1.4.4 存储器的选择 11 1.4.5 经济性的考虑 11 2 步进电动机的结构及控制原理 12 2.1.步进电动机的结构简介 12 2.2.步进电机的基本特点 12 3 步进电机细分驱动器 13 3.1步进电机细分驱动器的简介 13 3.2 特点 13 3.3 引脚