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1、廣州鐵路職業(yè)技術(shù)學(xué)院2008屆畢業(yè)論文畢業(yè)設(shè)計題目基于PLC的機械手系統(tǒng)設(shè)計25廣州鐵路職業(yè)技術(shù)學(xué)院2008屆畢業(yè)論文摘要機械手是工業(yè)機器人系統(tǒng)中傳統(tǒng)的任務(wù)執(zhí)行機構(gòu)，是機器人的關(guān)鍵部件之一。機械手的機械結(jié)構(gòu)采用滾珠絲桿、滑桿、等機械器件組成；電氣方面有直流流電機、步進(jìn)電機、步進(jìn)電機驅(qū)動器、傳感器、等電子器件組成。該裝置涵蓋了可編程控制技術(shù)，位置控制技術(shù)、檢測技術(shù)等，是機電一體化的典型代表儀器之一。本文介紹的機械手是由PLC輸出兩路脈沖，分別驅(qū)動橫軸、豎軸步進(jìn)電機，控制機械手橫軸和豎軸的精確定位，微動開關(guān)將位置信號傳給PLC主機；位置信號由接近開關(guān)反饋給PLC
2、主機，通過直流電機的正反轉(zhuǎn)來控制機械手手爪和底盤的旋轉(zhuǎn)，從而實現(xiàn)機械手精確運動的功能。本課題擬開發(fā)的物料搬運機械手可在空間抓放物體，動作靈活多樣，可代替人工在高溫和危險的作業(yè)區(qū)進(jìn)行作業(yè)，并可根據(jù)工件的變化及運動流程的要求隨時更改相關(guān)參數(shù)。關(guān)鍵詞:機械手；步進(jìn)電機；步進(jìn)電機驅(qū)動器；PLC。25廣州鐵路職業(yè)技術(shù)學(xué)院2008屆畢業(yè)論文目錄摘要····································································1第一章緒論·······································
3、······················31.1引言······························································31.2機械手的設(shè)計······················································31.2.1設(shè)計目的······················25廣州鐵路職業(yè)技術(shù)學(xué)院2008屆畢業(yè)論文································31.2.2設(shè)計內(nèi)容·································
4、·····················41.2.3設(shè)計依據(jù)與可行性··············································41.2.4設(shè)計步驟······················································41.2.5其他說明······················································41.3機械手的要求與原始數(shù)據(jù)············································51.3.1設(shè)計要求····
5、··················································51.3.2.原始數(shù)據(jù)·····················································525廣州鐵路職業(yè)技術(shù)學(xué)院2008屆畢業(yè)論文第二章機械手的組成·····················································7第三章機械手的軟硬件設(shè)計···············································83.1I/O分配表··············
6、···········································83.2I/O接線圖·························································93.3主要硬件設(shè)備名稱及型號···········································103.4主要硬件設(shè)備說明·················································103.5PLC控制程序···························25廣州鐵路職業(yè)技術(shù)學(xué)院2
7、008屆畢業(yè)論文··························123.5.1流程圖·······················································123.5.2梯形圖·······················································133.5.3指令表·······················································183.6氣動回路圖···········································
8、············21總結(jié)··········
