毕业设计（论文）-基于PLC与步进电动机的机械手控制系统设计.doc

基于PLC与步进电动机的机械手控制系统设计 PAGE 基于PLC与步进电动机的机械手控制系统设计 【摘要】 随着科学技术的日新月异，自动化程度要求越来越高，市场竞争激烈，人工成本上涨，以往人工操作的搬运和固定输送带为主的传统搬运方式，不但占用空间也不容易更变生产线结构，加上需要人力监督操作，更增加生产成本，原有的生产装料装置远远不能满足当前高度自动化的需要。减轻劳动强度，保障生产的可靠性、安全性、降低生产成本，减少环境污染，提高产品的质量及经济效益是企业生产所必须面临的重大问题。它集成自动控制技术、计量技术于一体的机电一体化产品，它利于控制，操作方便等优点。 本设计使用步进电机控制机械手横轴，纵轴的进给，直流电机控制机械手臂，手抓的旋转；通过光栅尺和旋转编码器对机械手进行精确定位；通过接近开关等传感器等实现机械手的精确运动。这次设计模拟物料搬运机械手，可在空间抓放物体，动作灵活多样，并可根据运动流程的要求随时更改相关参数，代替人工在高温和危险的作业区进行作业。 【关键词】 PLC；机械手；传感器；旋转编码器；光栅尺；步进电机 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 work