[工学]毕业设计_PLC控制齿轮机械手自动升降设计.doc

摘要 机械手是在自动化生产过程中发展起来的一种新型装置，广泛应用于工业生产和其他领域。可编程控制器（PLC）已在工业生产过程中得到广泛的应用。论文以三菱FX2N型PLC为基础，介绍PLC在机械手搬运控制中的应用，设计了一套可行的机械手控制系统，并给出了详细的PLC程序。介绍了一种基于PLC控制的气动机械手的设计，详细介绍了气动机械手的结构设计、工作原理、气压传动系统和电气控制系统设计等具体内容。介绍了气动机械手的动作顺序及其应用PLC进行控制的设计方法，建立了相应的气动原理图，确定了PLC的输入∕输出量，建立了PLC控制的硬件接线图及相应的控制流程图。通过PLC的软件程序控制各电磁阀，驱动气缸动作，从而控制机械手的动作。本课题拟开发的物料搬运机械手可在空间抓放物体，动作灵活多样，可代替人工在高温和危险的作业区进行作业，并可根据工件的变化及运动流程的要求随时更改相关参数。 关键词：气动机械手 PLC 气压传动 英文摘要 Abstract: The manipulator is a new device developed in the automatic production process. It is widely used in industrial producing and other fields. Programmable Logic Controller (PLC), has been widely used in industrial producing as well. Based on the PLC of SanLing FX2N type,this paper introduces PLC application in manipulator transportation control system.The design of pneumatic manipulator based on PLC control eas introduced.The structural design,operational principle,pneumatic transmission system design and electrical contral systen design ofpneumatic manipulator were introduced in detail.The sequence of operation of a kind aie operated maniputor available ,and the control design using PLCwere introduced.The corresponding pneumatic system schematic diagram was established,the PLC input/output was determined,the PLCcontrol hardware wiring diagram and the corresponding control flow chart were established.Tough the electromagnetic valve in PLC software,the movement of the air cylinder was drived,so manipulatou begins to movement.The topics to be developed by the Manipulator grasping be up in space objects, movements flexible, diverse, can replace the artificial heat and dangerous operation conducted operations, According to the workpiece can change the campaign process and the requirements of any changes to the relevant parameters. Keywords:pneumatic manipulator ;PLC ; pneumatic trasmission 摘要 1 英文摘要 2 第一章 前言 3 第二章 机械手概述 4 2.1工业机械手的简史 5 2.2工业机械手的应用意义及在生产中的应用 6 2.2.1机械手的应用意义 6 2.3 机械手的系统结构 7 2.4 机械手的组成