江西理工大学南昌校区毕业设计（论文）题目：搬运机械手及其PLC控制系统设计系：机电工程系专业：机电一体化班级：08机电（1）学生：王淼清学号：08312111指导教师：王春花老师、张乐平老师职称：副教授摘要随着工业自动化的普及和发展，控制器的需求量逐年增大，搬运机械手的应用也逐渐普及，主要在汽车，电子，机械加工、食品、医药等领域的生产流水线或货物装卸调运,可以更好地节约能源和提高运输设备或产品的效率，以降低其他搬运方式的限制和不足，满足现代经济发展的要求。搬运机械手是能模仿人和臂的某些动作功能，用以固定程序抓取、搬运物件或操作工具的自动操作装置。为了满足生产的需要，机械手要求设置多种工作方式，例如手动和自动（包括连续、单周期、单步和自动返回初始状态）工作方式。在运动控制方面，PLC可以用于圆周运动或直线运动的控制。所以利用PLC程序控制可以实现机械手的控制要求。通过梯形图程序使各动作电磁阀动作，配合各极限位置的限位开关，准确而又循环的连续操作。系统以液压传动为驱动方式，避免使用三相异步电动机，具有防过载的优点。机械手、PLC、液压系统组成的整体具有高效、安全、经济、实用等特点。关键词：搬运机械手；液压；电磁阀；可编程控制器（PLC）ABSTRACTWiththepopularityofindustrialautomationanddevelopment,thedemandforyear-on-yearincreaseofcontroller,handlingtheapplicationofrobotgraduallypopularity,mainlyintheautomotive,electronic,mechanicalprocessing,food,medicineandotherareasoftheproductionlineorcargotransport,wecanbemoregoodtosaveenergyandimprovethetransportefficiencyofequipmentorproducts,toreducerestrictionsonothermodesoftransportationandinadequatetomeettherequirementsofmoderneconomicdevelopment.Handlingmanipulatorisabletoimitatesomeactionsandarmfunction,fixedprocedureofcrawling,handlingobjectsortoolsautomatically-operatedequipment.Inordertomeettheneedsofproduction,variousworkingmethodsrequiredforthemanipulator,suchasmanualandautomatic(includingcontinuous,singlecycle,andautomaticallyreturntotheinitialstateinasinglestep)works.Intheareaofmotioncontrol,PLCcanbeusedforcircularorlinearmotioncontrol.UsingPLCcontrolmanipulatorcontrolrequirementscanbeimplemented.Byladderdiagramprogramsenablethesolenoidvalveaction,combinedwiththeextremepositionoflimitswitches,accurateandcontinuousoperationoftheloop.Systeminhydraulic-drivenway,avoidingtheuseofthree-phaseinductionmotor,hastheadvantageofoverload-proof.Manipulator,PLC,hydraulicsystemasawholeisanefficient,secure,economicalandpracticalcharacteristics.Keywords:handlingmechanicalhands；hydraulic；solenoidvalve；ProgrammableLogicController(PLC)目录摘要第一章机械手的介绍···············1第二章机械手抓取机构设计············32.1手部设计计算·················32.2大臂上下移动机构设计·············52.3上臂左右移动机构设计·············6第三章液压系统原理设计··············83.1手部抓取缸···················83.2大臂伸缩缸液压回路···············83.3上臂伸缩缸液压回路回路·············83.4总体系统图··················9第四章PLC的硬件设计···············124.1系统的主电路设计················124.2操作面板的设计················134.3PLC型号的选择·················144.4PLCI/O分配表·················144.5PLC的外部接线图················164.6电器元件的选用················174.7电器安装板接线图················19第五章PLC的程序设计·...
