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工件裝卸機械手控制系統設計

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工件裝卸機械手控制系統設計
工業機械手；控制系統；電氣驅動；結構工件裝卸機械手控制系統設計
摘要
工業機械手在現今的工業體系中越發的重要，在如今的機械加工制造業中，工業機械手它的主要用途是在裝卸物料于機床或者是模鍛壓力機以及進行焊接、噴涂等工藝。并且隨著工業技術的發展，尤其是在中國如此快速發展的情況下，并且提出“中國制造2025計劃”，這就要求我國的工業制造技術必須要實現一個突飛猛進的跨越。工業機械手在全自動生產線上不僅僅可以代替人類而且還實時配合生產線的工作要求，讓產出無限放大。并且工業機械手自動化程度高、工作靈活多變，可以適應各種各樣的工作場合，比如高溫、腐蝕及有毒氣體空間的環境中。在如此的環境下，機械手不僅等價甚至高于的替代工人們的勞動，而且使得工人免受工作環境的危害。為了不同工業技術工作的要求，促進工業機械手的創新能夠像雨后春筍一樣蓬勃發展，各式各樣的工業機械手的設計就顯得尤為重要。
本文根據本科階段所學的機械基礎知識，以及電氣基礎技術進行設計的工件裝卸機械手控制系統設計。本設計的機械手采用交流伺服電機進行驅動，使用PLC作為控制核心，通過PLC端口輸入的變化，反饋回給PLC，然后在對機體結構進行控制。
本文通過對工件裝卸機械手的控制要求進行分析，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系列中的比較優秀的型號，由于系列號比較先進所以它具有許多強大的功能，因此這也是其被大部分工業生產所用的原因，根據它的功能定義，在端口數上具有24輸入/16繼電器輸出，，實現機械手的靈活控制。本文通過常用的機械設計對機械手的機械結構進行了設計，還繪制了與之相適應的電氣原理圖，并對PLC的I/O端口進行了分配以及編寫PLC控制程序，從而實現任務要求，實現對機械手行為動作的嚴格把控。
本文使用的方法不但可以應用于機械手控制系統的設計，對其他任務的設計應用也有一定的向導作用，并且這些工作的意義也是相當的，它對于工業機械手產品在系列化上，也具有一定的發展意義。

關鍵字：工業機械手；控制系統；PLC；電氣驅動；結構

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

主要符號表
G，F 力
μ，f 摩擦系數
W，m 質量
M 力矩
S 面積
τ，σ 許用應力
WZ 抗彎截面系數
P 導程
J 轉動慣量
D，d 直徑
L 長度
T 轉矩
I 輸入映像寄存器
Q 輸出映像寄存器
SM 特殊標志位寄存器...

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