自动机械手控制系统设计.doc

PAGE 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，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上, 搬运机械手可以很好地节约能源和提高运输设备或产品的效率，以降低其它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三个双控电磁阀控制的双作用气缸分别实现机械手的伸缩、升降及夹紧松开动作的控制，及一个通过线圈控制正反转的交流电机，从而实现机械手的旋转工作。机械手的动作靠设置在各个不同部位的行程开关(SQ1SQ6)产生的通断信号来转换，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：前伸、下降、延时、夹紧、延时、上升、回缩、旋转（顺时/逆时）、前伸、下降、延时、放松、延时、上升、回缩、旋转（逆时/顺时）；其操作方式包括：点动、单步、单周期、全自动；全程靠触摸屏、PLC及各种行程开关的控制来满足生产中的操作需求。 关键词： 搬运机械手；可编程控制器（PLC）；气动；电磁阀；触摸屏 Abstract With the popularization and development of industrial automation, controllers demand increases year by year, handling robot applications are becoming more common in the automotive, electronic, mechanical processing, food, medicine and other fields of production lines or cargo transported, the transfer robot can be more good energy savings and improve the efficiency of transport equipment or products in order to reduce the restrictions and other handling methods inadequate to meet the requirements of modern economic development. The design of the mechanical structure mainly comprises three pairs of control solenoid valve control were achieved double-acting cylinder telescopic manipulator, lifting and controlling the motion of the clamp release, and a reversing through the coil AC motor control, in order to achieve rotation of the work robot.By operation of the robot disposed in different parts of the travel switch (SQ1 SQ6) OFF signal generated to convert the signal to the PLC controller, through the PLC program output different signals to drive the external coil to control the motor or electromagnetic valves have different actions, to achieve precise positioning of the robot.Its action process includes: reach, drop, delay, clamping, delay, rise, retraction, rotation (clockwise / counterclockwise), reach, drop, delay, relaxation, delay, rise, retraction rotation (counterclockwise / clockwise); their operating methods include: back in place, manual, single-step, single cy