工件裝卸機(jī)械手控制系統(tǒng)設(shè)計(jì)
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- 工件裝卸機(jī)械手控制系統(tǒng)設(shè)計(jì)
工業(yè)機(jī)械手；控制系統(tǒng)；電氣驅(qū)動(dòng)；結(jié)構(gòu)工件裝卸機(jī)械手控制系統(tǒng)設(shè)計(jì)
摘要
工業(yè)機(jī)械手在現(xiàn)今的工業(yè)體系中越發(fā)的重要，在如今的機(jī)械加工制造業(yè)中，工業(yè)機(jī)械手它的主要用途是在裝卸物料于機(jī)床或者是模鍛壓力機(jī)以及進(jìn)行焊接、噴涂等工藝。并且隨著工業(yè)技術(shù)的發(fā)展，尤其是在中國(guó)如此快速發(fā)展的情況下，并且提出“中國(guó)制造2025計(jì)劃”，這就要求我國(guó)的工業(yè)制造技術(shù)必須要實(shí)現(xiàn)一個(gè)突飛猛進(jìn)的跨越。工業(yè)機(jī)械手在全自動(dòng)生產(chǎn)線上不僅僅可以代替人類而且還實(shí)時(shí)配合生產(chǎn)線的工作要求，讓產(chǎn)出無(wú)限放大。并且工業(yè)機(jī)械手自動(dòng)化程度高、工作靈活多變，可以適應(yīng)各種各樣的工作場(chǎng)合，比如高溫、腐蝕及有毒氣體空間的環(huán)境中。在如此的環(huán)境下，機(jī)械手不僅等價(jià)甚至高于的替代工人們的勞動(dòng)，而且使得工人免受工作環(huán)境的危害。為了不同工業(yè)技術(shù)工作的要求，促進(jìn)工業(yè)機(jī)械手的創(chuàng)新能夠像雨后春筍一樣蓬勃發(fā)展，各式各樣的工業(yè)機(jī)械手的設(shè)計(jì)就顯得尤為重要。
本文根據(jù)本科階段所學(xué)的機(jī)械基礎(chǔ)知識(shí)，以及電氣基礎(chǔ)技術(shù)進(jìn)行設(shè)計(jì)的工件裝卸機(jī)械手控制系統(tǒng)設(shè)計(jì)。本設(shè)計(jì)的機(jī)械手采用交流伺服電機(jī)進(jìn)行驅(qū)動(dòng)，使用PLC作為控制核心，通過(guò)PLC端口輸入的變化，反饋回給PLC，然后在對(duì)機(jī)體結(jié)構(gòu)進(jìn)行控制。
本文通過(guò)對(duì)工件裝卸機(jī)械手的控制要求進(jìn)行分析，在各類控制期間的選擇之下，決定采用西門子公司的可編程邏輯控制器CPU226AC/DC/繼電器，是屬于S7-200系列中的比較優(yōu)秀的型號(hào)，由于系列號(hào)比較先進(jìn)所以它具有許多強(qiáng)大的功能，因此這也是其被大部分工業(yè)生產(chǎn)所用的原因，根據(jù)它的功能定義，在端口數(shù)上具有24輸入/16繼電器輸出，，實(shí)現(xiàn)機(jī)械手的靈活控制。本文通過(guò)常用的機(jī)械設(shè)計(jì)對(duì)機(jī)械手的機(jī)械結(jié)構(gòu)進(jìn)行了設(shè)計(jì)，還繪制了與之相適應(yīng)的電氣原理圖，并對(duì)PLC的I/O端口進(jìn)行了分配以及編寫(xiě)PLC控制程序，從而實(shí)現(xiàn)任務(wù)要求，實(shí)現(xiàn)對(duì)機(jī)械手行為動(dòng)作的嚴(yán)格把控。
本文使用的方法不但可以應(yīng)用于機(jī)械手控制系統(tǒng)的設(shè)計(jì)，對(duì)其他任務(wù)的設(shè)計(jì)應(yīng)用也有一定的向?qū)ё饔茫⑶疫@些工作的意義也是相當(dāng)?shù)模鼘?duì)于工業(yè)機(jī)械手產(chǎn)品在系列化上，也具有一定的發(fā)展意義。
關(guān)鍵字：工業(yè)機(jī)械手；控制系統(tǒng)；PLC；電氣驅(qū)動(dòng)；結(jié)構(gòu)
Design of Control system for workpiece loading and unloading manipulator
Abstract
Industrial manipulators are more and more important in today's industrial system. In the machinery manufacturing industry, manipulators are mainly used for machine tools, materials for forging presses, welding, spraying, and other operations, and with the development of industrial technology. Especially in the case of China's rapid development, and put forward the "China manufacturing 2025 plan", which requires that our country's industrial manufacturing technology must achieve a rapid leap forward.In the fully automatic production line, the industrial manipulator can not only replace humans but also cooperate with the work requirements of the production line in real time, allowing the output to be infinitely enlarged.In addition, the industrial manipulator has a high degree of automation and flexibility in its work. It can adapt to various workplaces, such as high temperatures, corrosion, and toxic gas spaces.in such environments,The manipulator is not only equivalent to or even higher than the labor of the workers, but also protects the workers from the work environment.For the requirements of different industrial technology work, the promotion of industrial manipulator innovation can flourish like a spring spring, and the design of various types of industrial manipulator is particularly important.
This designs the control system of workpiece handling manipulator according to the basic knowledge of mechanical and electrical basic technology. The manipulator is driven by AC servo motor, PLC is used as the control core, the input change of PLC port is fed back to PLC, and then the structure of the body is controlled.
By analyzing the control requirements of workpiece handling manipulator, under the choice of various control periods, this paper decides to adopt Siemens programmable logic controller CPU226AC / DC / relay, which belongs to the excellent model of S7-200 series. Because the series number is more advanced, so it has many powerful functions, so this is why it is used by most industrial production, according to its function definition, It has 24 input / 16 relay output on the port number to realize the flexible control of manipulator. In this paper, the mechanical structure of the manipulator is designed through the commonly used mechanical design. The corresponding electrical schematic diagram is drawn, and the I / O port of PLC is allocated and the PLC control program is written to fulfill the task requirements and strictly control the behavior of manipulator.
The method used in this paper not only can be used in the design of manipulator control system, but also has a certain guiding effect on the design and application of other tasks, and these works are of certain significance to the development of serial products of industrial manipulator.
Key words: industrial manipulator; control system,;PLC,;electrical drive;structure
主 要 符 號(hào) 表
G，F(xiàn) 力
μ，f 摩擦系數(shù)
W，m 質(zhì)量
M 力矩
S 面積
τ，σ 許用應(yīng)力
WZ 抗彎截面系數(shù)
P 導(dǎo)程
J 轉(zhuǎn)動(dòng)慣量
D，d 直徑
L 長(zhǎng)度
T 轉(zhuǎn)矩
I 輸入映像寄存器
Q 輸出映像寄存器
SM 特殊標(biāo)志位寄存器...
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