搬运机器人

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。

本机械手的机械结构主要包括由两个电磁阀控制的液压钢来实现机械手的上升下降

运动及夹紧工件的动作，两个转速不同的电动机分别通过两线圈控制电动机的正反转，从而实现小车的快进、慢进、快退、慢退的运动运动；其动作转换靠设置在各个不同部位的行程开关(SQ1---SQ9)产生的通断信号传输到PLC控制器，通过PLC内部程序输出不同的信号，从而驱动外部线圈来控制电动机或电磁阀产生不同的动作，可实现机械手的精确定位；其动作过程包括：下降、夹紧、上升、慢进、快进、慢进、延时、下降、放松、上升、慢退、快退、慢退；其操作方式包括：回原位、手动、单步、单周期、连续；来满足生产中的各种操作要求。

关键词：搬运机械手可编程控制器（PLC）液压电磁阀

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

目录

摘要.................................................................... I Abstract ................................................................. II 目录.................................................................. III 引言.. (1)

第一章机械手概况 (2)

1.1搬运机械手的应用简况 (2)

1.2机械手的应用意义 (3)

1.3机械手的发展概况 (3)

1.4机械手的发展趋势 (4)

1.5 PLC概况及在机械手中的应用 (5)

第二章搬运机械手总体设计方案 (8)

2.1搬运机械手结构及其动作 (8)

2.2机械手的控制过程 (8)

2.3机械手的控制要求 (9)

第三章搬运机械手硬件系统设计 (10)

3.1机械手的结构 (10)

3.2电气控制的设计 (10)

3.3操作面板及动作说明 (11)

3.4 I/O分配 (12)

第四章搬运机械手的软件系统设计 (14)

4.1梯形图的总体设计 (14)

4.2各部分梯形图的设计 (14)

结论 (23)

谢辞 (24)

参考文献 (25)

附：语句表梯形图I/O接线图