摘 要
隨著工業(yè)自動(dòng)化的普及和發(fā)展，控制器的需求量逐年增大，搬運(yùn)機(jī)械手的應(yīng)用也逐漸普及，主要在汽車，電子，機(jī)械加工、食品、醫(yī)藥等領(lǐng)域的生產(chǎn)流水線或貨物裝卸調(diào)運(yùn), 可以更好地節(jié)約能源和提高運(yùn)輸設(shè)備或產(chǎn)品的效率，以降低其他搬運(yùn)方式的限制和不足，滿足現(xiàn)代經(jīng)濟(jì)發(fā)展的要求。
本機(jī)械手的機(jī)械結(jié)構(gòu)主要包括由兩個(gè)電磁閥控制的液壓鋼來實(shí)現(xiàn)機(jī)械手的上升下降運(yùn)動(dòng)及夾緊工件的動(dòng)作，兩個(gè)轉(zhuǎn)速不同的電動(dòng)機(jī)分別通過兩線圈控制電動(dòng)機(jī)的正反轉(zhuǎn)，從而實(shí)現(xiàn)小車的快進(jìn)、慢進(jìn)、快退、慢退的運(yùn)動(dòng)運(yùn)動(dòng)；其動(dòng)作轉(zhuǎn)換靠設(shè)置在各個(gè)不同部位的行程開關(guān)(SQ1---SQ9)產(chǎn)生的通斷信號(hào)傳輸?shù)絇LC控制器，通過PLC內(nèi)部程序輸出不同的信號(hào)，從而驅(qū)動(dòng)外部線圈來控制電動(dòng)機(jī)或電磁閥產(chǎn)生不同的動(dòng)作，可實(shí)現(xiàn)機(jī)械手的精確定位；其動(dòng)作過程包括：下降、夾緊、上升、慢進(jìn)、快進(jìn)、慢進(jìn)、延時(shí)、下降、放松、上升、慢退、快退、慢退；其操作方式包括：回原位、手動(dòng)、單步、單周期、連續(xù)；來滿足生產(chǎn)中的各種操作要求。
關(guān)鍵詞：搬運(yùn)機(jī)械手，可編程控制器（PLC），液壓，電磁閥
ABSTRACT
With the popularity of industrial automation and development, the demand for year-on-year increase of controller, handling the application of robot gradually popularity, mainly in the automotive, electronic, mechanical processing, food, medicine and other areas of the production line or cargo transport, we can be more good to save energy and improve the transport efficiency of equipment or products, to reduce restrictions on other modes of transportation and inadequate to meet the requirements of modern economic development.
The manipulator mechanical structure includes two solenoid valves controlled by hydraulic manipulator steel to achieve the increased decline in sports and workpiece clamping action, the two different motor speed through the two motor coils positive control in order to achieve car of the fast-forward, slow forward, fast rewind, slow movement back movement; conversion by setting its action in various different parts of the trip switch (SQ1 --- SQ9) generated on-off signal transmission to the PLC controller, through the PLC internal different output signal, which drives the external coil to control the motor or solenoid valves have a different action, the robot can achieve precise positioning; their course of action include: decline in clamping increased, slow forward, fast forward, slow progress, the extension of , the drop in, relax, rise, slow back, rewind, slow back; its operation, including: Back in situ, manual, single-step, single cycle, continuous; to meet the production requirements of the various operations and maintenance.
Keywords: handling mechanical hands, Programmable Logic Controller (PLC), hydraulic, solenoid valve
目 錄
前 言………………………………………………………………………………….1
第一章 機(jī)械手的概況
1.1 搬運(yùn)機(jī)械手的應(yīng)用簡況…………………………………………………2
1.2 機(jī)械手的應(yīng)用意義………………………………………………………3
1.3 機(jī)械手的發(fā)展概況………………………………………………………3
第三章 搬運(yùn)機(jī)械手PLC控制系統(tǒng)設(shè)計(jì)
3.1 搬運(yùn)機(jī)械手結(jié)構(gòu)及其動(dòng)作………………………………………………
3.2 搬運(yùn)機(jī)械手系統(tǒng)硬件設(shè)計(jì)………………………………………………
3.3 搬運(yùn)機(jī)械手控制程序設(shè)計(jì)………………………………………………
1 操作面板及動(dòng)作說明……………………………………………………
2 I/O分配…………………………………………………………………
3 梯形圖的設(shè)計(jì)……………………………………………………………
1） 梯形圖的總體設(shè)計(jì)……………………………………………………
2） 各部分梯形圖的設(shè)計(jì)…………………………………………………
3） 繪制搬運(yùn)機(jī)械手PLC控制梯形圖……………………………………
結(jié) 論………………………………………………………………………………
謝 辭………………………………………………………………………………
參考文獻(xiàn)…………………………………………………………………………………. 附：語句表 梯形圖 I/O接線圖