PLC三指机械手设计及在路锥收放装备中的应用
关键词：三指机械手 路锥收放车 关节式 电机驱动 plc控制
毕业设计说明书（论文）外文摘要
Title Three-finger robot design application of road cones retractable equipment
Abstract
The graduation of three robot design and retractable equipment used in road cone in that three-finger robot gripping road cones placed to complete the road cones and recycling. Experiment with six degrees of freedom robotic manipulator as retractable traffic cone, mainly by the three-finger gripper, arm, arm, waist, etc., the phone itself using mechanical base, experimental objects arranged around the base, which coordinates the form articulated; driven by motor connected speed reducer, gear reducer drive after the joint realization waist and rotate each joint. High precision, precise positioning, responsive, enabling high-speed, high-precision continuous path control, the advantages of well-controlled servo-electric drive characteristics. Microcomputer control system, the final joint and brake servo control, real-time monitoring of each joint movement of the robot, the robot online modify the program, set the reference point and reference point.
Keywords Cone retractable car Three-finger robot Articulated Motor drive
Plc control
目 录
1 绪论 1
1.1 本课题的研究意义 1
1.2 课题国内外现状 1
1.2.1 国外发展 1
1.2.2 国内发展 2
1.3 机械手发展趋势 2
1.4 综述 3
2 路锥收放机械手总体设计 4
2.1 路锥收放机械手总体方案 4
2.1.1 技术要求 4
2.1.2 总体方案 5
2.2 路锥收放机械手总体设计 5
2.2.1 机械手机械结构设计 5
2.2.2 驱动的选择 11
2.2.3 机械手参数 12
3 控制系统设计 17
3.1 控制器选择 17
3.2 步进电机驱动 18
4 软件方案设计 21
4.1 整体方案设计 21
4.2 变量统计 22
4.3 plc程序编写 23
总 结 29
致 谢 30
参考文献31
1 绪论
1.1 本课题的研究意义
在执行公路文修养护任务过程中,必须要保证路上的行车与文养工作人员的安全。在需要文护的路段摆放交通路锥，或者设置路障用以警示或者安排车辆的安全行驶路线。特别是在高速公路路段的文护工作,因为车辆行车速很快，本身就很危险，在这里路锥的摆放便更加重要。