機械手 畢業設計 論文
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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 錄
摘 要 1
ABSTRACT 2
引 言 4
第一章 機械手機械結構 5
1．1 傳動機構 5
1．2機械手夾持器和機座的結構 6
第二章可編程控制PLC 8
2．1 PLC簡介 8
2．2 PLC內部原理 10
A. 系統程序存儲區 11
B. 系統RAM存儲區 11
C．用戶程序存儲區 11
2．3 PLC的工作原理 12
2．4 PLC機型的選擇方法 15
2．6 機械手PLC選擇及參數 17
第三章 三相異步電動機的工作原理及結構 19
3．1 三相異步電動機的結構 19
3．2 三相交流電機工作原理 23
3．3 三相電動機的轉動原理 25
3．3 機械手電機的選用 29
第四章 變頻器 29
4.1變頻器的構成 30
4.2 變頻器的分類和控制方式 34
4.3 FR-A540變頻器 37
第五章 機械手PLC控制系統設計 40
5．1 機械手的工藝過程 40
5．2 PLC控制系統 42
致答謝詞 48
參考文獻 49
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