基于PLC的机械臂控制电路设计.doc

基于PLC的机械臂控制电路设计 摘 要 随着可编程控制器应用技术的不断发展，PLC的应用范围日益扩大，使得当今工程技术人员在设计电气控制系统时，考虑选用PLC控制取代接触器控制。本文重点分析了基于PLC的机械手控制系统的组成，并详细叙述了在以PLC为核心的基础上，对交流异步电动机进行综合控制的软、硬件的实现方法。该系统利用异步电动机正反转旋转以及脉冲调速的特点，对其采用调频控制。因此可将整个运动视为折线运动，每一个动作可视为运动程序相同、特征参数各异的点位相对运动。其以起点作为参考点，通过脉冲计数得到目的点的位置，手动操作机械手从参考点运动到目的点后，保存目的点位的特征参数，并统一进行列表管理。从而实现手动模式下运用关键点位输入及自动模式查表方式的“仿形”动作。 关键字：可编程控制器，机械手，定位控制 PLC-based manipulator control circuit design Abstract With the Programmable Logic Controller the continuous development of applied technology, PLC on the application of growing, making todays engineering and technical personnel in the design of electrical control system, consider replacing optional PLC control access control. The paper analyzed the PLC-based control system Manipulator the composition, and described in detail in the PLC as the core on the basis of the Stepping Motor control of the integrated software and hardware of the method. The system used by the Stepping Motor unit pulse of step with the characteristics of the same distance from their point of using open-loop control. So the whole movement could be seen as broken line movement, every action can be considered the same as sports, characteristics of different parameters of the point of relative movement. 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, and a unified list management. To achieve manual mode use of the key points of import and automatic mode look-up table means copying moves. Key word: Programmable Logic Controller, Manipulator, Positioning Control 目 录 1 前 言 1 1.1 研究的目的和意义 1 1.1.1 传统机械手 1 1.1.2 现代机械手 1 1.2 研究的国内外现状和发展趋势 2 1.2.1 国内外现状 2 1.2.2发展趋势 3 2 方案设计 4 2.1 机械手的工艺流程和实现功能 4 2.1.1 机械手工艺流程 4 2.1.2 机械手实现功能 4 2.2 系统总体设计框图 5 2.3各模块概述 5 2.3.1控制器 5 2.3.2驱动模块 5 2.3.3执行模块 6 3 硬件设计 7 3.1 机械手夹持结构 7 3.1.1 夹紧机构——手爪 7 3.1.2 结构 7 3.2 机械