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機(jī)械手畢業(yè)設(shè)計論文

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更新時間：2012-10-06
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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(jī)械手機(jī)械結(jié)構(gòu) 5
1．1 傳動機(jī)構(gòu) 5
1．2機(jī)械手夾持器和機(jī)座的結(jié)構(gòu) 6
第二章可編程控制PLC 8
2．1 PLC簡介 8
2．2 PLC內(nèi)部原理 10
A. 系統(tǒng)程序存儲區(qū) 11
B. 系統(tǒng)RAM存儲區(qū) 11
C．用戶程序存儲區(qū) 11
2．3 PLC的工作原理 12
2．4 PLC機(jī)型的選擇方法 15
2．6 機(jī)械手PLC選擇及參數(shù) 17
第三章三相異步電動機(jī)的工作原理及結(jié)構(gòu) 19
3．1 三相異步電動機(jī)的結(jié)構(gòu) 19
3．2 三相交流電機(jī)工作原理 23
3．3 三相電動機(jī)的轉(zhuǎn)動原理 25
3．3 機(jī)械手電機(jī)的選用 29
第四章變頻器 29
4.1變頻器的構(gòu)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(jī)械手PLC控制系統(tǒng)設(shè)計 40
5．1 機(jī)械手的工藝過程 40
5．2 PLC控制系統(tǒng) 42
致答謝詞 48
參考文獻(xiàn) 49

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