摘要：机械手在工业生产中越来越受重视，按照预定程序输送工件或握持工具进行操作的自动化技术设备，对实现工业生产自动化，推动工业生产的进一步发展起着重要作用。本设计是将感应信号感应到位置信号变换为电信号，PLC（可编程控制器）根据编写程序控制伺服电机旋转方向，进而达到机械手的在空间坐标内任意点运动；其中感应装置把感应到的位置信号反馈给PLC主机，然后PLC拓展模块发送信号到气动气缸进而控制机械手，最后达到机械手的精确运动。本文所设计的材料搬运机械手在空间指定位置实现抓持和放置物体，并且通过向PLC输入指定信号可实现自动抓取工件。机械手不仅实现精确运动功能，同时改变相关参数（位置参数、行程参数、感应参数）可以实现机械手对工件和运动过程的灵活多变。42926
毕业论文关键词：机械手；PLC；传感器
Design of Manipulator Arm Swing Motion System Based on PLC
Abstract: Manipulator in the industrial production more and more attention. according to a predetermined program delivery or workpiece holding tool for operation of automation technology and equipment. to realize the automation of industrial production. promote the further development of industrial production plays an important role. This design is the induction signal induction to position signal transform into electrical signals. PLC (programmable logic controller) according to a written procedure control servo motor rotation direction. thus achieving the manipulator in the coordinate space any point movement; the induction device to sense the position signal feedback to PLC host. then the PLC development module sends signal to pneumatic cylinder so as to control the manipulator. finally reaching the precise movements of the manipulator. In this paper. the design of the material handling robot hand in space to achieve the designated position of grasping and placing objects. and by the PLC input to the specified signal can be achieved automatically grab the workpiece. Manipulator can not only achieve the precise motion function. but also change the relevant parameters (position parameters. stroke parameters. induction parameters) to achieve the flexible manipulator of the workpiece and the movement process.
Key Words: Manipulator; PLC; Sensor
目 录
摘要 1
绪论 2
1.机械手概述 2
1.1机械手的特点 2
1.2机械手组成 2
1.4发展前景及方向 3
2.课题的方案设计 4
2.1课题的主要任务 4
2.2机械手执行机构设计 4
2.3机械手的驱动方案设计 5
2.4机械手的主要参数 6
2.5 PLC控制系统 8
3.系统硬件设计 9
3.1主电路设计 9
3.2传感器的原理和选用 10
4.系统软件设计 10
4.1 PLC控制电路设计 12
4.2 PLC输入和输出点分配表 14
4.3指令语句表 16
5.机械手总体设计 16
5.1 机械手的动作过程 PLC机械手摆臂运动系统设计+梯形图:http://www.youerw.com/zidonghua/lunwen_43564.html