搬运用液压机械手控制系统设计.pdfVIP

本科毕业设计（论文） 题 目 搬运用液压机械手 控制系统设计 学生姓名 学 号 院（系） 机电工程学 专 业 指导教师 时 间 摘要 在工业生产过程中人们经常受到高温、腐蚀及有毒气体等因素的危害，增 加了工人的劳动强度，甚至于危及生命。自从机械手问世以来，相应的各种难 题迎刃而解。 本文以三自由度搬运用液压机械手为研究对象，该机械手能在空间抓、放、 搬运物体，动作灵活，适用于生产线中、小型批量自动化生产。机械手的全部 动作由液压缸和液压马达驱动，液压缸和液压马达由电磁阀控制，电磁阀由 PLC 程序控制。 论文的主要工作如下：设计了机械手的液压系统图，选取了相应的液压元 器件，给出了 PLC 的控制方案，设计了PLC 接线图、控制面板。并以此设计了 PLC 控制程序，此程序可实现机械手的上升/下降、伸出/缩回、抓取/放松和左 转/右转等功能。 关键词：三自由度、机械手、液压、PLC 第 1 页 Abstract In the process of industrial production, people are often subjected to high temperature, corrosion and toxic gases and other factors, increasing the labor intensity of workers, and even endanger life. Since the advent of manipulator, smoothly done or easily solved the corresponding problems. In this paper, three degrees of freedom to move the use of hydraulic manipulator as the research object, the robot hand in space to grasp, put, moving objects, action flexible, applicable to the production line, small batch automated production. The whole movement of the manipulator is driven by the hydraulic cylinder and the hydraulic motor, the hydraulic cylinder and the hydraulic motor are controlled by the electromagnetic valve, and the electromagnetic valve is controlled by the PLC program. The main work of this paper are as follows: design the manipulator of the hydraulic system diagram, select the corresponding hydraulic components, the PLC control scheme is proposed, and thus the design of the PLC control program, this program can realize the