机械手 毕业设计 论文
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- Abstract
Manipulator industrial robot systems traditional mandate, Robot is one of the key components. Manipulator using the mechanical structure of screw-ball, slider, and other mechanical devices composition; Electric have AC motor, inverter, sensor, and other electronic device components. The device covers a programmable control technology, position control technology, detection technology, Mechatronics is a typical representative of one of the machines. This paper presents a manipulator by three PLC output pulse, driving horizontal, the vertical axis transducer, control manipulator axis horizontal and vertical positioning precision, micro-switches position signal transmission will host PLC; location close to the switching signal from the feedback from the mainframe to the PLC, through the exchange of Motor reversion to control the manipulator gripper Zhang, thus achieving accurate manipulator movement functions. 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.
Key Words: Manipulator PLC Inverter AC motor
目 录
摘 要 1
ABSTRACT 2
引 言 4
第一章 机械手机械结构 5
1．1 传动机构 5
1．2机械手夹持器和机座的结构 6
第二章可编程控制PLC 8
2．1 PLC简介 8
2．2 PLC内部原理 10
A. 系统程序存储区 11
B. 系统RAM存储区 11
C．用户程序存储区 11
2．3 PLC的工作原理 12
2．4 PLC机型的选择方法 15
2．6 机械手PLC选择及参数 17
第三章 三相异步电动机的工作原理及结构 19
3．1 三相异步电动机的结构 19
3．2 三相交流电机工作原理 23
3．3 三相电动机的转动原理 25
3．3 机械手电机的选用 29
第四章 变频器 29
4.1变频器的构成 30
4.2 变频器的分类和控制方式 34
4.3 FR-A540变频器 37
第五章 机械手PLC控制系统设计 40
5．1 机械手的工艺过程 40
5．2 PLC控制系统 42
致答谢词 48
参考文献 49
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