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1、 毕 业 设 计题目 自动供料装置工业机械手控制系统设计摘 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，在自动供料装置中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
2、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。关键字:供料装置机械手，可编程控制器（PLC），液压，电磁阀。 I Abstract With the popularity of industrial automation and development, the demand for year-on-year increase of con
3、troller, 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
4、 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 a
5、ction, 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 tr
6、ansmission 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,
7、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 h
8、ands, Programmable Logic Controller (PLC), hydraulic, solenoid valve. II 目 录 摘 要 .I Abstract .II目 录 .III绪 论.1第一章 工业机械手控制系统介绍1.1 机械手控制系统发展历史.11.2 机械手控制系统组成.21.3 机械手控制系统前瞻.3第二章 工业机械手装置简介2.1 装置结构.42.2 功能描述.52.3 电气原理.6第三章 Micrologix 1500控制器简介3.1硬件概述.93.2控制器接线.103.3通讯选件.11第四章 RSlinx Classic通讯装置简介4.1 RSlinx Classic入门指南.124.2 RSlinx Classic通讯装置步骤.13第五章 RSLogix 500编程软件5.1 RSLogix 500编程软件介绍.14 5.2 RSLogix 软件界面.145.3 RSLogix 500基本指令.15第六章 机械手控制系统总体设计5.1 软件设计.165.2 硬件设计.175.3 系统通讯配置.18总结附录参考文献
