机械手臂搬运加工流程PLC设计-毕业论文.doc

最新精品文档，知识共享！ PAGE 专业综合应用与工程能力实践训练 机械手臂搬运加工流程控制 院 、 部： 电气与信息工程学院 学生姓名： 杜 敏 指导教师： 何西 职称 助教 专 业： 电气工程及其自动化 班 级： 电气本1104班 完成时间： 2014年12月11日 摘 要 ? 随着工业自动化的普及和发展，控制器的需求量逐年增大，搬运机械手的应用也逐渐普及，主要在汽车，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,?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。 本机械手的机械结构主要包括由两个电磁阀控制的液压钢来实现机械手的上升下降运动及夹紧工件的动作，两个转速不同的电动机分别通过两线圈控制电动机的正反转，从而实现小车的快进、慢进、快退、慢退的运动运动；其动作转换靠设置在各个不同部位的行程开关（SQ1SQ9)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，可实现机械手的精确定位；其动作过程包括：下降、夹紧、上升、慢进、快进、慢进、延时、下降、放松、上升、慢退、快退、慢退；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），液压，电磁阀 ABSTRACT With the popularization and development of industrial automation, the controllers demand is increasing year by year, the application of carrying manipulator is gradually popular, mainly in the automotive, electronic, mechanical processing, food, medicine and other production line or in the field of cargo transportation, can be better to save energy and improve the efficiency of transportation equipment or products, in order to reduce the limitation and deficiency of other ways of transportation, to meet the requirements of the modern economic development. The mechanical structure of the manipulator is mainly include the two solenoid valve control hydraulic steel to achieve the up and down movement of the manipulator and the clamping workpiece movement, two speed motor respectively through two coil control motor and reversing, so as to realize the car fast, slow, fast return, the motion of slow movement back; Its motion transformation by setting in various parts of the travel switch (SQ1 - SQ9) produced by on-off signals to PLC controller, through the PLC internal program output different signals, thus driving the external loop to control the motor or solenoid valve produce different movements, which can realize accurate positioning of the manipulator; Its action process includes: fall, clamping, rising, slow, fast forward, slowly in