简易物料搬运机械手结构设计及pc控制系统研究.docVIP

简易物料搬运机械手结构设计及PLC控制系统研究摘 ??要 随着工业自动化进程的加快，搬运机械手的应用也得到了飞速发展，主要在体现在汽车，电子，机械加工、食品、医药等领域的生产流水线或货物装卸调运方面, 可以更好地节约能源和提高运输设备或产品的效率，以降低其他搬运方式的限制和不足，满足现代经济发展的要求。 本机械手的全部动作由气缸驱动，而气缸则由相应的电磁阀控制。其中，上升下降和左移右移分别由双线圈二位电磁阀控制，放松夹紧则由一个单线圈二位电磁阀控制。通过在各个不同部位的限位开关产生的通断信号传输到PLC控制器，通过PLC内部程序输出不同的信号，从而驱动外部线圈来控制电动机或电磁阀产生不同的动作。其动作过程包括：下降、夹紧、上升、右移、下降、放松、上升、左移；其操作方式包括：回原位、手动、单步、单周期、连续；来满足生产中的各种操作要求。关键词：搬运机械手，可编程控制器（PLC），气缸，电磁阀ABSTRACT With the acceleration of industrial process automation, handling robot application has been rapid development, mainly the production line or in terms of cargo transported automotive, electronics, machinery processing, food, medicine, etc., may be better to save energy and improve efficiency of transport equipment or products to reduce restrictions and lack of other transport modes, to meet the requirements of modern economic development. All movements of the robot driven by the cylinder, and the cylinder from the corresponding solenoid valve control. Among them, the rise and fall right and left respectively, by two dual-coil solenoid valve controlled by a single coil loosen the clamping two solenoid valves. Off different parts of the signal transmission generated by the limit switch to the controller PLC, the PLC program via different output signals to drive an external coil or solenoid to control the motor to produce different actions. Its course of action, including: reduced clamping rise, right, down, relax, up, left; its mode of operation include: back in place, manual, single-step, single cycle, continuous; to meet a variety of production operating requirements.Keywords: Handling robots, programmable logic controller (PLC), cylinder, solenoid valve目???? 录前言…………………………………………………………………………………1第一章?机械手的概况1.1 机械手的应用简况…………………………………………………21.2 机械手的应用意义………………………………………………………31.3 机械手的发展概况………………………………………………………3第二章?搬运机械手PLC控制系统设计2.1 搬运机械手结构及其动作………………………………………………2.2 搬运机械手系统硬件设计………………………………………………2.3机械手的控制要求 ………………………………………………第三章 搬运机械手控制程序设计3.1机械手的结构……………………………………………………2? I