基于FX2N及組態(tài)王的氣動(dòng)機(jī)械手監(jiān)控

摘 要

在工業(yè)生產(chǎn)等相關(guān)領(lǐng)域內(nèi)，會(huì)有一些高溫、腐蝕及有毒氣體出現(xiàn)在工作環(huán)境中，危害了操作人員的健康，增加了工人的勞動(dòng)強(qiáng)度。而機(jī)械手可以解決這些問(wèn)題。機(jī)械手可在空間抓、放、搬運(yùn)物體，動(dòng)作靈活多樣，從而替代人工操作，適用于可變換生產(chǎn)品種的中、小批量自動(dòng)化生產(chǎn)。
本畢業(yè)設(shè)計(jì)任務(wù)主要通過(guò)PLC完成對(duì)一個(gè)5自由度的機(jī)械手模型控制，使其完成一系列的生產(chǎn)動(dòng)作過(guò)程，并使用組態(tài)王軟件對(duì)機(jī)械手進(jìn)行監(jiān)控，將機(jī)械手的動(dòng)作過(guò)程進(jìn)行了動(dòng)畫(huà)顯示。設(shè)計(jì)所使用的機(jī)械手系統(tǒng)(TVT-99D)是由三菱FX2N-48MT PLC主機(jī)、機(jī)械手(滾珠絲桿、滑軌)、Syntron 42BYG250C步進(jìn)電機(jī)及其驅(qū)動(dòng)器、傳感器、光電編碼器、氣動(dòng)元件等組成，可實(shí)現(xiàn)機(jī)械手的上下移動(dòng)、左右移動(dòng)、底盤旋轉(zhuǎn)及手爪旋轉(zhuǎn)、抓放等動(dòng)作。主要采用了步進(jìn)順序控制及步進(jìn)控制技術(shù)。涵蓋了可編程控制技術(shù)，位置控制技術(shù)、檢測(cè)技術(shù)等，是機(jī)電一體化的典型代表。
設(shè)計(jì)報(bào)告首先介紹了機(jī)械手控制方式的選擇和所選擇方式的簡(jiǎn)介；其次介紹了應(yīng)用PLC設(shè)計(jì)機(jī)械手的步驟；還介紹了PLC機(jī)械手的程序調(diào)試；最后介紹了應(yīng)用組態(tài)王對(duì)機(jī)械手監(jiān)控的過(guò)程，包括畫(huà)面繪制、數(shù)據(jù)變量的設(shè)置等。

【關(guān)鍵詞】:  機(jī)械手  PLC  滾珠絲杠  步進(jìn)控制

Abstract

In industrial production and other domains, something like high temperature, corrosion and poisonous gas appear at workplace, which would increased worker's labor intensity and even endangers their health. With manipulator used, those difficult problems can be easily solved. Hand operation can be replaced by manipulator operation, because it can grab, put, move objects flexibly and changefully. So it can be applied to transform the production of variety of medium and small-volume automated production. 
The task of the graduation design is to control a mechanical hand model with 5 degrees of freedom by PLC, and use it to complete a series of actions. The KINGVING
is used to monitor the mechanical hand, and change its movement into animations. The system(model: TVT-99D) I used is composed by MITSUBISHIS FX2N-MT PLC, mechanical hand(ball screw, slide rail), Syntron 42BYG250C step motor and its driver module, sensor, photoelectric encoder ,pneumatic component and so on. It controls manipulator move vertically or horizontally, chassis or paw rotate, pack-and-place. The design mainly uses stepping sequence control and stepping control technology. The process covers programmable control technology, position control technology, detection technology, which is a typical representative of mechatronics.
       The design report firstly describes how to choose the way to control the mechanical hand and introductions of the ways. Then introduces the design steps. It also introduces program test of the manipulator. At last, the paper introduces the steps of processing and monitoring manipulator by KingView.

【Key words】:    mechanical hand    PLC  ball screw   step control
 
目錄
一、 緒論 1
（一） 課題研究目的及意義 1
（二） 國(guó)內(nèi)外機(jī)械手研究概況 1
1.國(guó)內(nèi)方面 1
2.國(guó)外方面 2
二、 機(jī)械手控制方式選擇 3
（一）機(jī)械手常用控制方法 3
1．控制方式的分類 3
2.機(jī)械手控制方式的選定 4
（二）PLC簡(jiǎn)介 5
1.PLC組成 5
2.PLC的特點(diǎn) 6
3. PLC的主要功能 6
4. PLC的經(jīng)濟(jì)性分析 7
5.PLC的應(yīng)用領(lǐng)域及發(fā)展?fàn)顩r 7
（三）組態(tài)王簡(jiǎn)介 8
1.仿真的基本方法 8
2.組態(tài)王軟件特點(diǎn) 8
（四）機(jī)械手系統(tǒng)介紹 10
1.機(jī)械手本體 11
2.步進(jìn)電機(jī)及其驅(qū)動(dòng)器 12
3.直流電機(jī)驅(qū)動(dòng)器單元 17
4．接近開(kāi)關(guān)和限位開(kāi)關(guān) 18
5.旋轉(zhuǎn)碼盤 19
三、 應(yīng)用PLC設(shè)計(jì)機(jī)械手的步驟 20
（一） 工藝控制和設(shè)計(jì)要求 20
1.具體流程及步驟 20
2.設(shè)計(jì)要求 21
（二）PLC程序設(shè)計(jì) 22
1. I/O點(diǎn)數(shù)的確定及PLC類型的選擇 22
2. PLC的I/O分配 22
3.編程方式及指令的選擇 23
4.PLC程序的設(shè)計(jì) 25
四、PLC機(jī)械手的程序調(diào)試 31
（一）PLC控制的安裝與布線 31
1.輸入接線 31
2.電源接線 31
3.接地 32
（二）機(jī)械手控制系統(tǒng)的外部接線圖 33
五、應(yīng)用組態(tài)王對(duì)機(jī)械手監(jiān)控過(guò)程 34
（一）畫(huà)面繪制 34
（二）數(shù)據(jù)變量的設(shè)置 35
（三）組態(tài)王與PLC的通訊設(shè)置 35
（四）實(shí)際監(jiān)控 36
六、小結(jié) 37
（一）設(shè)計(jì)和調(diào)試過(guò)程遇到的問(wèn)題及解決方法 37
1.外部接線問(wèn)題 37
2.PLC選型的問(wèn)題 37
3.接近開(kāi)關(guān)使用 37
4.合并程序 38
5.特殊輔助繼電器M8029的使用 38
6.步進(jìn)電機(jī)控制問(wèn)題 38
（二）心得體會(huì) 39
七、致謝 40
參考文獻(xiàn) 41