基于plc的機械手控制系統的研究與設計-文庫吧

【正文】 h the characteristics of the same distance from their point of using openloop control. To its starting point as a reference point, through the pulse by counting purposes at the location, manually operated mechanical hand movement from the point of reference points to the purpose, the purpose of preserving points of the parameters. The robot control system in the actual operation can be reliable and stable operation. Key words: Programmable Logic Controller, Manipulator, Positioning Control I 目 錄 摘 要 .................................................... I ABSTRACT ................................................... II 第一章 前言 ................................................. 1 研究的目的和意義 ................................................................................................................. 1 主要研究內容及需要解決的關鍵問題和思路 ..................................................................... 2 課題研究內容 ............................................................................................................... 2 硬件選擇 ....................................................................................................................... 3 控制要求 ....................................................................................................................... 3 輸入 /輸出設備 ........................................................................................................... 3 PLC 選擇 ....................................................................................................................... 3 I/O 點數分配 .............................................................................................................. 3 PLC 程序設計 ............................................................................................................ 3 第二章 硬件設計 ............................................. 5 機械手夾持結構 ..................................................................................................................... 5 夾緊機構 —— 手爪 ...................................................................................................... 5 本設計中手爪結構 ...................................................................................................... 5 傳動系統 ................................................................................................................................ 6 傳動定位機構 ............................................................................................................... 6 傳動方式 ....................................................................................................................... 6 步進電機的選擇及其驅動器設定 ............................................................................... 6 輔助系統 .............................................................................................................................. 11 原點定位及超程保護 ................................................................................................ 11 操作臺 ........................................................................................................................ 13 第三章 軟件設計 ............................................ 14 PLC 控制系統的設計及 I/O 口分配 ................................................................................... 14 PLC 控制系統設計的基本原則 ................................................................................. 14 PLC 控制系統設計步驟 ............................................................................................. 14 PLC 的輸出方式 ......................................................................................................... 15 II I/O 點數 ....................................................................................................................... 16 程序設計 .............................................................................................................................. 18 控制原理圖 .......................................................................................................................... 20 初始化程序 .......................................................................................................................... 21 回原點程序 .......................................................................................................................... 22 手動程序 .............................................................................................................................. 24 自動程序 ............................................................................................................................... 25 第 4 章 結語 ................................................ 40 參考文 獻 ................................................... 41 致謝 ....................................................... 42 南通大學杏林學院畢業設計（論文） 1 第一章 前言 研究的目的和意義 本課題是基于 PLC 控制器的機械手的控制系統的研究與設計，目的是在于通 PLC 可編程控制器和各種傳感器來對機械手臂的運動進行有效的控制，來達到人們想要的運動效果，從而代替一些由人來重復操作的機械的枯燥乏味的動作。本課題的機械手貼近鋼絲繩工業的生產要求，具有很強的可行性、實用性和經濟性。該設備可以應用 于鋼絲繩