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PLC控制直角坐标机械手设计-三自由度【6张CAD图纸和毕业论文全套】

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摘要

　　　工业机械手有能模仿人手和手臂的某些动作功能，用固定程序搬运，抓取物体或操作工具的自动操作装置，机械手主要由手部和运动机构组成。按照搬运或者抓去的物件形状、尺寸、重量、材料和作业环境等的要求的不同，手结构形式有吸附型和夹持型等。运动机构的功能是使手部完成各种动作：移动、转动等运动来实现规定的动作。机构的伸缩、升降和旋转等运动方式，称为机械手的自由度。本设计选用三自由度直角坐标型工业机器人，其自由度为X轴，Y轴和Z轴方向，是通过滚珠丝杠来实现小臂与大臂的伸缩，升降。而这些动作都是通过在步进电机的带动下进行。在控制器的作用下，它将执行将工件从一条流水线抓取并运送到另一条流水线这一简单的动作。本篇论文主要对机械手的传动部分滚珠丝杠与步进电机进行了计算，计算内容主要包括工业机器人的传动机构的设计，以及其机械传动装置的选择。另外对控制部分的描述主要有PLC的控制方案，接线原理图以及程序流程图等。

关键词：三自由度，直角坐标，PLC，机械手

ABSTRACT

　　　Industrial robot arm able to mimic some of the manpower and motor function, with a fixed program handling, grab objects automatically operated device or operating tools, robots mainly by hand and sports institutions. According to different requirements for handling objects or arrested shape, size , weight, material and operating environment and the like , in the form of the hand gripping structure and an adsorption -type. Functional movement mechanism is to complete a variety of hand actions: move, rotate and other sports to achieve the required action. Retractable mechanism, lifting and rotation movement pattern, called degrees of freedom manipulator.The design uses three degrees of freedom Cartesian industrial robots, its degrees of freedom for the X -axis, Y -axis and Z -axis direction is achieved by ball screw telescopic arm with the big arm movements. These actions are carried driven by a stepping motor. In the role of the controller, it performs the work piece crawl and transported to another pipeline from the simple act of a pipeline.This thesis is part of the robot drive a ball screw and stepper motor, calculated mainly include industrial robots choose to design transmission mechanism, as well as its mechanical transmission devices. In addition to the control part of the description of the main control scheme PLC, wiring schematics and process flow chart.

Key words: three degrees of freedom, Cartesian coordinates, PLC, manipulator

1 绪论 1

1.1 课题来源 1

1.2 课题目的、意义 1

1.3 国内外发展基本情况 1

2 工业机械手的总体设计 3

2.1 机械手的组成 3

2.2 工业机械手的设计分析 4

2.3 总体设计方案 4

3.机械手的机械系统设计 8

3.1 机械手手爪设计 8

3.2 机械手传动部分设计 15

3.3 机械手基座部分设计 21

3.4 轴承的选取 28

4 PLC控制系统设计 29

4.1可编程序控制器的选择及工作过程 29

4.2 PLC控制系统 30

5 结论 36

参考文献 37

致谢 38

1 绪论

　　　1.1 课题来源

　　　本课题来自于企业项目。

　　　1.2 课题目的、意义

　　　随着加工行业在我国的迅速发展，各行各业的自动化装备水平越来越高，现代化加工车间，常常配有机械手，以提高生产效率，代替工人完成恶劣环境下危险、繁重的劳动。目前，机械手常用于完成的工作有：汽车制造领域的零件装配及焊接；注塑工业中用于从模具中快速抓取制品并将制品传送到下一个生产工具；机械加工行业中用于取料，送料；浇铸行业中用于提取高温溶液等等。

　　　在工业生产线中，机械手具有很广泛的用途。它是工作抓取和装配系统中的一个重要组成部分。它的基本作用是从指定位置抓取工件运送到另一个指定的位置进行装配。它的基本作用是从指定位置抓取工件运送到另一个指定的位置进行装配。机械手臂代替了人工的繁杂劳动，并且操作精度高，提高了产品质量和生产效率。课题的目的是构思、设计一种结构相对简单，功能完备，具有较好的经济性和性能/价格比的机械手。

　　　1.3 国内外发展基本情况

　　　在机械工业中，机械手的应用具有以下意义。

　　　应用机械手，有利于提高材料的传送、工件的装卸、刀具的更换以及机器的装配等的自动化程度，从而可以提高劳动生产率，降低生产成本，加快实现工业生产机械化和自动化的步伐。

　　　在高温、高压、低温、低压、有灰尘、噪声、臭味、有放射性或有其它毒性污染以及工作空间狭窄等场合中，用人手直接操作是有危险或根本不可能的。而应用机械手即可部分或全部代替人安全地完成作业，大大地改善了工人的劳动条件。同时，在一些动作简单但又重复作业的操作中，以机械手代替人手进行工作，可以避免由于操作疲劳或疏忽而造成的人身事故。

　　　应用机械手代替人手进行工作，这是直接减少人力的一个侧面，同时由于应用机械手可以连续地工作，这是减少人力的另一个侧面。因此，在自动化机床和综合加工自动生产线上目前几乎都设有机械手，以减少人力和更准确地控制生产的节拍，便于有节奏地进行生产。 QQ截图20200312210516.png

1-机械手装配总图-A0.png

Y轴大臂支撑架-A2.png

Z轴导向杆-A3.png

电动连接架-A2.png

机械手固定座-A2.png

夹紧力计算截图.png

接线图-A1.png

目录和字数统计.png

要求参数.png

内容简介：: 外文翻译资料机电一体化技术及其应用研究1 机电一体化技术发展机电一体化是机械、微、控制、机、信息处理等多学科的交叉融合，其发展和进步有赖于相关技术的进步与发展，其主要发展方向有数字化、智能化、模块化、化、人性化、微型化、集成化、带源化和绿色化。1.1 数字化微控制器及其发展奠定了机电产品数字化的基础，如不断发展的数控机床和机器人；而计算机网络的迅速崛起，为数字化设计与制造铺平了道路，如虚拟设计、计算机集成制造等。数字化要求机电一体化产品的软件具有高可靠性、易操作性、可维护性、自诊断能力以及友好人机界面。数字化的实现将便于远程操作、诊断和修复。1.2 智能化即要求机电产品有一定的智能,使它具有类似人的逻辑思考、判断推理、自主决策等能力。例如在CNC数控机床上增加人机对话功能，设置智能I/O接口和智能工艺数据库，会给使用、操作和维护带来极大的方便。随着模糊控制、神经网络、灰色、小波理论、混沌与分岔等人工智能技术的进步与发展，为机电一体化技术发展开辟了广阔天地。 1.3 模块化由于机电一体化产品种类和生产厂家繁多，研制和开发具有标准机械接口、动力接口、环境接口的机电一体化产品单元模块是一项复杂而有前途的工作。如研制具有集减速、变频调速电机一体的动力驱动单元；具有视觉、图像处理、识别和测距等功能的电机一体控制单元等。这样，在产品开发设计时，可以利用这些标准模块化单元迅速开发出新的产品。1.4 网络化由于网络的普及，基于网络的各种远程控制和监视技术方兴未艾。而远程控制的终端设备本身就是机电一体化产品，现场总线和局域网技术使家用电器网络化成为可能，利用家庭网络把各种家用电器连接成以计算机为中心的计算机集成家用电器系统，使人们在家里可充分享受各种高技术带来的好处，因此，机电一体化产品无疑应朝网络化方向发展。1.5 人性化机电一体化产品的最终使用对象是人，如何给机电一体化产品赋予人的智能、情感和人性显得愈来愈重要，机电一体化产品除了完善的性能外，还要求在色彩、造型等方面与环境相协调，使用这些产品，对人来说还是一种享受，如家用机器人的最高境界就是人机一体化。1.6 微型化微型化是精细加工技术发展的必然，也是提高效率的需要。微机电系统(Micro Electronic Mechanical Systems，简称MEMS)是指可批量制作的，集微型机构、微型传感器、微型执行器以及信号处理和控制电路，直至接口、通信和电源等于一体的微型器件或系统。自1986年美国斯坦福大学研制出第一个医用微探针，1988年美国加州大学Berkeley分校研制出第一个微电机以来，国内外在MEMS工艺、材料以及微观机理方面取得了很大进展，开发出各种MEMS器件和系统，如各种微型传感器（压力传感器、微加速度计、微触觉传感器），各种微构件（微膜、微粱、微探针、微连杆、微齿轮、微轴承、微泵、微弹簧以及微机器人等）。 1.7 集成化集成化既包含各种技术的相互渗透、相互融合和各种产品不同结构的优化与复合，又包含在生产过程中同时处理加工、装配、检测、管理等多种工序。为了实现多品种、小批量生产的自动化与高效率，应使系统具有更广泛的柔性。首先可将系统分解为若干层次，使系统功能分散，并使各部分协调而又安全地运转，然后再通过软、硬件将各个层次有机地联系起来，使其性能最优、功能最强。1.8 带源化是指机电一体化产品自身带有能源，如太阳能电池、燃料电池和大容量电池。由于在许多场合无法使用电能，因而对于运动的机电一体化产品，自带动力源具有独特的好处。带源化是机电一体化产品的发展方向之一。1.9 绿色化技术的发展给人们的生活带来巨大变化，在物质丰富的同时也带来资源减少、生态环境恶化的后果。所以，人们呼唤保护环境，回归，实现可持续发展，绿色产品概念在这种呼声中应运而生。绿色产品是指低能耗、低材耗、低污染、舒适、协调而可再生利用的产品。在其设计、制造、使用和销毁时应符合环保和人类健康的要求，机电一体化产品的绿色化主要是指在其使用时不污染生态环境，产品寿命结束时，产品可分解和再生利用。2 机电一体化技术在钢铁中应用在钢铁企业中，机电一体化系统是以微处理机为核心，把微机、工控机、数据通讯、显示装置、仪表等技术有机的结合起来，采用组装合并方式，为实现工程大系统的综合一体化创造有力条件，增强系统控制精度、质量和可靠性。机电一体化技术在钢铁企业中主要应用于以下几个方面：2.1 智能化控制技术(IC)由于钢铁具有大型化、高速化和连续化的特点，传统的控制技术遇到了难以克服的困难，因此非常有必要采用智能控制技术。智能控制技术主要包括专家系统、模糊控制和神经等，智能控制技术广泛于钢铁的产品设计、生产、控制、设备与产品质量诊断等各个方面，如高炉控制系统、电炉和连铸车间、轧钢系统、炼钢连铸轧钢综合调度系统、冷连轧等。2.2 分布式控制系统(CS)分布式控制系统采用一台中央机指挥若干台面向控制的现场测控计算机和智能控制单元。分布式控制系统可以是两级的、三级的或更多级的。利用计算机对生产过程进行集中监视、操作、管理和分散控制。随着测控技术的，分布式控制系统的功能越来越多。不仅可以实现生产过程控制，而且还可以实现在线最优化、生产过程实时调度、生产计划统计管理功能，成为一种测、控、管一体化的综合系统。CS具有特点控制功能多样化、操作简便、系统可以扩展、维护方便、可靠性高等特点。CS是监视集中控制分散，故障面小，而且系统具有连锁保护功能，采用了系统故障人工手动控制操作措施，使系统可靠性高。分布式控制系统与集中型控制系统相比，其功能更强，具有更高的安全性。是当前大型机电一体化系统的主要潮流。 2.3 开放式控制系统(OCS)开放控制系统(Open Control System)是计算机技术发展所引出的新的结构体系概念。“开放”意味着对一种标准的信息交换规程的共识和支持，按此标准设计的系统，可以实现不同厂家产品的兼容和互换，且资源共享。开放控制系统通过工业通信网络使各种控制设备、管理计算机互联，实现控制与经营、管理、决策的集成，通过现场总线使现场仪表与控制室的控制设备互联，实现测量与控制一体化。2.4 计算机集成制造系统(CIMS)钢铁企业的CIMS是将人与生产经营、生产管理以及过程控制连成一体，用以实现从原料进厂，生产加工到产品发货的整个生产过程全局和过程一体化控制。目前钢铁企业已基本实现了过程自动化，但这种“自动化孤岛”式的单机自动化缺乏信息资源的共享和生产过程的统一管理，难以适应钢铁生产的要求。未来钢铁企业竞争的焦点是多品种、小批量生产，质优价廉，及时交货。为了提高生产率、节能降耗、减少人员及现有库存，加速资金周转，实现生产、经营、管理整体优化，关键就是加强管理，获取必须的效益，提高了企业的竞争力。美国、日本等一些大型钢铁企业在20世纪80年代已广泛实现CIMS化。2.5 现场总线技术(BT)现场总线技术(ie Bus Technology)是连接设置在现场的仪表与设置在控制室内的控制设备之间的数字式、双向、多站通信链路。采用现场总线技术取代现行的信号传输技术(如420mA，C直流传输)就能使更多的信息在智能化现场仪表装置与更高一级的控制系统之间在共同的通信媒体上进行双向传送。通过现场总线连接可省去66%或更多的现场信号连接导线。现场总线的引入导致CS的变革和新一代围绕开放自动化系统的现场总线化仪表，如智能变送器、智能执行器、现场总线化检测仪表、现场总线化PLC(Programmable Logic Controller)和现场就地控制站等的发展。 2.6 交流传动技术传动技术在钢铁工业中起作至关重要的作用。随着电力技术和微电子技术的发展，交流调速技术的发展非常迅速。由于交流传动的优越性，电气传动技术在不久的将来由交流传动全面取代直流传动，数字技术的发展，使复杂的矢量控制技术实用化得以实现，交流调速系统的调速性能已达到和超过直流调速水平。现在无论大容量电机或中小容量电机都可以使用同步电机或异步电机实现可逆平滑调速。交流传动系统在轧钢生产中一出现就受到用户的欢迎，应用不断扩大。 4外文资料翻译Electromechanical integration technology and its application An electromechanical integration technology development Mechatronics is the machinery, micro-, control, aircraft, information processing, and other cross-disciplinary integration, and its development and progress depends on the progress of technology and development, the main direction of development of a digital, intelligent, modular, and human nature , miniaturization, integration, with source and green. 1.1 Digital Microcontroller and the development of a number of mechanical and electrical products of the base, such as the continuous development of CNC machine tools and robots, and the rapid rise of the computer network for the digital design and manufacturing paved the way for, such as virtual design and computer integrated manufacturing. Digital request electromechanical integration software products with high reliability, easy operability, maintainability, self-diagnostic capabilities, and friendly man-machine interface. Digital will facilitate the realization of long-distance operation, diagnosis and repair. Intelligent 1.2 Mechanical and electrical products that require a certain degree of intelligence, it is similar to the logical thinking, reasoning judgement, autonomous decision-making capabilities. For example, in the CNC machine increase interactive features, set up Intelligent I / O interface and intelligent database technology, will use, operation and maintenance of bring great convenience. With fuzzy control, neural network, gray, wavelet theory, chaos and bifurcation, such as artificial intelligence and technological progress and development and the development of mechanical and electrical integration technology has opened up a vast world. Modular 1.3 As electromechanical integration products and manufacturers wide variety of research and development of a standard mechanical interface, dynamic interface, the environment interface modules electromechanical integration products is a complex and promising work. If the development is set to slow down. VVVF integrated motor drive unit with vision, image processing, identification and location of the motor functions, such as integrated control unit. Thus, in product development, design, we can use these standards modular unit quickly develop new products. 1.4 Network As the popularity of the network, network-based remote control and monitoring of various technical ascendant. The remote control device itself is the integration of mechanical and electrical products, fieldbus technology to household appliances and LAN network possible, use a home network to connect various home appliances into a computer as the center of computer integrated appliances system, so that people in the home can be full enjoyment of the benefits of various high-tech, therefore, electromechanical integration products should be no doubt North Korea networks. 1.5 humanity Electromechanical integration of the end-use product is targeted, how to give people electromechanical integration of intelligent products, emotion and humanity is becoming more and more important, electromechanical integration products in addition to improving performance, it also urged the color, shape and so on and environmental coordination, the use of these products, or for a person to enjoy, such as home robot is the highest state of human-machine integration. 1.6 miniaturization Micro-fine processing technology is a necessity in the development, but also the need to improve efficiency. MEMS (Micro Electronic Mechanical Systems, or MEMS) refers to quantities can be produced by the micro-collection agencies, micro-sensors, micro actuators and signal processing and control circuit until interface, communication and power is one of the micro-devices or systems . Since 1986 the United States at Stanford University developed the first medical microprobe, 1988 at the University of California, Berkeley developed the first micro-motor, both at home and abroad in MEMS technology, materials and micro-mechanism much progress has been made, the development of all sorts MEMS devices and systems, such as the various micro-sensors (pressure sensors, micro-accelerometer, micro-tactile sensor), various micro-component (micro-film, micro-beam, microprobes, micro-link, micro-gear, micro-bearings, micro-pump , microcoil and micro-robot, etc.). 1.7 Integration Integration includes a mutual penetration of various technologies, and integration of various products of different structural optimization and composite, and included in the production process at the same time processing, assembly, testing, management, and other processes. In order to achieve more variety, small batch production of automation and high efficiency, the system should have a more extensive flexible. First system can be divided into several levels, allowing the system to function dispersed, and security and coordination with other parts of the operation, and then through software and hardware at various levels will be organically linked to its optimal performance, the most powerful. 1.8 with source of Electromechanical integration refers to the product itself with energy, such as solar cells, fuel cells and large-capacity battery. As on many occasions not be able to use electricity, which campaigns for the mechanical and electrical integration products, has a unique power source comes with the benefits. Sources with the integration of mechanical and electrical product development direction of. Green 1.9 The development of technology in peoples lives brought great changes in the material at the same time has also brought rich resources, deterioration of the ecological environment consequences. Therefore, people calling for the protection of the environment, regression, and achieving sustainable development in the concept of green products such calls have emerged. Green products is low-power, low-wood consumption, clean, comfortable, coordination and utilization of renewable products. In its design, manufacture, use and destruction of human beings should be in line with environmental protection and health requirements, electromechanical integration of green products is mainly refers to the use of time is not pollute the ecological environment, at the end of product life, and regeneration of decomposition products. 2 electromechanical integration in the application of technology in the iron and steel In the iron and steel enterprises, the integration of mechanical and electrical systems are at the core microprocessor, the computer, industrial computer, data communications, display devices, meters and the combination of technologies such as organic, assembled by the merger means for the realization of a large-scale integrated system create conditions for effective integration, enhanced system control precision, quality and reliability. Electromechanical integration technology in the iron and steel enterprises in the mainly used in the following areas:2.1 Intelligent Control Technology (IC) As a large-scale iron and steel, high-speed continuous and the characteristics of the traditional control technologies encountered insurmountable difficulties, it is necessary to adopt very intelligent control technology. Control technologies include intelligent expert system, neural and fuzzy control, intelligent control techniques in steel product design, manufacturing, control, product quality and diagnostic equipment, and other aspects, such as blast furnace control system, electric furnace and continuous casting plant, steel rolling system , steelmaking - Casting integrated scheduling system - rolling, cold rolling, etc. 2.2 Distributed Control System (DCS) Distributed control system uses a central command for the control of a number of Taiwan-site monitoring and intelligent computer control unit. Distributed control systems can be two, three or more levels. Using computers to concentrate on the production process monitoring, operation, management and decentralized control. With monitoring and control technologies, and the functions of distributed control system more and more. Not only can be achieved control of the production process, but also can be achieved online optimization, the production process real-time scheduling, production planning statistical management functions, as a measurement, control, integration of the integrated system. DCS control functions with diverse features and easy operation, the system can be extended, easy maintenance and high reliability characteristics. DCS is decentralized and centralized control monitoring, fault-minor, and the system has the chain protection features, the use of manual control system failure operational measures, the system is highly reliable. Distributed control system and centralized control system compared to their more functional, with a higher level of security. Is the large-scale integration of mechanical and electrical systems main trend. 2.3 Open Control System (OCS) Open Control System (Open Control System) is the development of computer technology led by the new structure concept. Open means a standard for the exchange of information in order consensus and support this standard design systems, different manufacturers products can be compatible and interoperable, and the sharing of resources. Industrial control systems through open communication network so that all control equipment, management, computer interconnections, to achieve control and management, administration, integrated decision-making, through fieldbus to the scene and control room instrumentation control equipment interconnected to achieve integrated measurement and control of. 2.4 Computer Integrated Manufacturing System (CIMS) CIMS is the iron and steel enterprises will be and the production and operation, production management and process control connecting to achieve from raw materials into the plant, production and processing of shipments to the entire production process and the overall integration process control. Currently iron and steel enterprises have basically achieved process automation, but this kind of automated island of single automation lack of information resources and the sharing of the unified management of the production process, can hardly meet the requirements of the iron and steel production. Future competition iron and steel enterprises is the focus of many varieties, small batch production, cheap and of good quality, timely delivery of goods. In order to improve productivity, saving energy, reducing staff and the existing inventory, accelerate cash flow, production, operation and management of the overall optimization, the key is to strengthen the management, access to the benefits of raising the competitiveness of businesses. The United States, Japan and some other large-scale iron and steel enterprises in the 1980s has been widely realization of CIMS. 2.5 Fieldbus Technology (FBT) Fieldbus Technology (Fied Bus Technology) is the connection settings in the field of instrumentation installed in the cont

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