DOC《毕业论文设计》

毕业论文设计PLC控制的机械手设计 摘要本文对PLC控制的机械手进行了探究,确定了机、电一体化的设计方案,把电传动和机械结构合理地融合在机械手的协调动作中,相互之间取长补短.

其中,工件的移动通过步进电机实现,同时采用了三菱的FX系列PLC作为控制器.最终达到能够安全、稳定、准确地完成搬运的目的. 首先,简单介绍了本课题的来源、意义和内容,回顾了国内外机器人(机械手)的发展概况. 其次,给出了本课题的研究依据,对机械手的机械系统方案进行了设计,确定了整体结构和机、电一体化的实现方法,画出了各主要部件的机械结构图. 再次,简要地进行了机械手运动分析,对驱动、传动系统进行了方案设计,并进行了丝杠、导轨和步进电机等主要部件的选取和校验. 最后,总结了全文,指出了机械手的改进措施、应用前景和发展方向.本课题是一个机、电结合较为紧密的实用性项目,文中对PLC的应用、机械结构的设计、控制方法的选择等方面进行了必要的探讨,在机电一体化方面进行了一定的研究,在机械手的设计与研制方面积累了很多宝贵而实用的经验. 关键词:机械手PLC(可编程控制器) 运动控制 步进电机 Abstract The text will research into the problem of the manipulatorcontroled by PLC. and confirm design project that the mechanics and electricsare used together.The electric and mechanical are combined agreeably in the coordinating actions of the manipulator,they could complement the deficiency with the other'

s advantage.In this equipment, the motions of the work pieces is completed by repeating motor. Meanwhile,the writer adopts the MITSUBISHI'

s FX series of PLC as controller.It is sure that the task is completed more safely,steadily,well andtruly. Firstly,the writer introduces the resource,content and practical application value of the thesis,and reviews the development of robots inside and abroad. Secondly,the writer introduces the gist of research,designs the machine system project of the manipulator,confirms the configuration and the realization way with the machinery and electricity motivated and draws the machine configuration picture of master parts. Thirdly,the writer analyses simply the kinematics of the manipulator,designs the projectof driving system and transmission system,selects and checks thread-bar,guide, repeating motor and so on. Finally,the writer summarizes the whole thesis and points out the amelioration, perspective and developing direction of the manipulator. The subject is a practical item where the mechanics and electrics are integrated very closely.The writer has made a necessary discussion in the application of PLC, the optimize of mechanical structure and the study of control mode and researches into the mechatronics.Many valuable and applied experiences are accumulated in integrated design. Key Words:manipulator;

PLC;

motion-control;

repeating motor 目录

第一章 绪论

1 1.1研究背景和课题来源.1 1.2本课题的意义

1 1.3机器手的分类、发展、应用与组成

2 1.4 .机械手的组成

5 1.5.工业机械手的发展趋势

6 1.6本文的主要研究内容.7 1.7小结

7

第二章 整体设计思路

8 2.1引言

8 2.2设计依据.8 2.3机械系统的基本要求.9 2.4主要部件结构设计.10 2.5小结

11

第三章 驱动电机的选取及校验

12 3.1引言

12 3.2机械手的运动分析.12 3.3传动方案的设计及主要部件选取