通用型气动工业机器手结构及控制设计(三菱PLC)-机械手-有程序【7张PDF图纸+CAD制图+文档】
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第一部分：mt500的使用1.启动1.1 第一步建立mt500与PC和PLC的连接a） 连接个人电脑 RS - 232接口的mt500至个人电脑。PC RS - 232和PLC RS - 485共用同一D-SUB型连接器。在调试过程中，推荐使用mt5_pc分裂成两个独立的连接器。b） 无论是连接PLC的 RS - 485或可编程控制器 RS - 232接口的mt500向PLC。 C） 设置DIP开关，在所有的关闭的位置。d）连接直流电24V电源向电源接头。未能连接权极点可能导致保险丝在mt500烧坏。e）适用于电力和校准对比调整，以虚拟现实的最佳视图表现。f）安装easybuilder 500在你的电脑，并输入easymanager后，你完成安装过程。Easy Manager是一个EasyBuilder的软件计划 ：屏幕编辑器来配置eview mt5xx人机界面（简称为eb500 ） 。EasyWindow ：模拟eview在PC上后， 项目是遵从由eb500） ， easywindow将检索数据临立会通过eview和模拟运行eview对电脑屏幕上。用模拟器对你的调试过程中，将节省的时间用在重复下载。eview通讯：下载/上传项目和开关操作模式。 下载：下载该项目遵守由eb500向eview 。 上传：上传该项目，从eview一个对象文件。该上传文件无法打开，由eb500但可以转让给另一eview 。这是有益的，以检索数据，从安装单位，以作重复设置。模式的改变： eview运行在三种模式： RDS（远程调试与仿真）模式：用于模拟和下载/上传。 应用（上线运行）模式：这是正常的操作模式该eview ， eview将开始从启动之窗项目下载。 触摸调整（触摸屏校准）模式：用来校准触摸屏。该easywindow和eview传播者也可以援引easybuilder ， 不过，通信设置（ PC与eview ） ，是指对easymanager如下： COM端口：选择COM端口连接与eview 。 通讯速度：以确定通信速度之间的PC和eview在下载和上传业务。 工程下载/上传或下载方法/上传：以确定哪些数据发送或来自该eview 。 项目：所有与项目有关的档案方法：方法资料全部或部分下载/上传：这只是为工程下载/上传的， 充分 指项目文件和应用程序， 局部是指项目档案。 现在点击easybuilder 按钮。以下弹出对话框。 要选择合适的模型你的节目。1.2 easybuilder屏幕编辑功能点击Easy Manager 的 easybuilder 按钮，以下屏幕上会显现。职能每个屏幕面积解释如下。标题栏显示该项目的档案名称，窗口号码及名称。菜单栏显示菜单用于选择easybuilder命令。选择其中之一会在相应的下拉菜单中出现。工具栏显示器图标相应的文件，编辑，图书馆，编译，仿真并指挥下载。状态选择点击此按钮打开所有的部件在屏幕上指向特定状态。对齐使所有选定部分线到顶部，底部，左或右。物体的大小它使得尺寸，宽度或高度的所有选定部分，以相同大小的。位置调整调整位置的选定部分。群该组功能，使收集的某些部分与绘图元素作为一个物体。文字大小及位置改变字体大小及路线选定文字。旋转和翻转允许形状被翻了横向或纵向旋转90度增新点。零件工具盒图标代表每个部分类型的数据。点击其中的图标原因即图标的对话框中出现。这部分的属性，然后再定以及部分可以摆放在屏幕上。窗口和对象的选择它提供了一个方便的途径，选择一个窗口或在指定的项目。绘图工具图标代表每个绘图工具。提供绘画工具，包括线，长方形，椭圆/圆，圆弧，多边形，规模，位图图形和形状。游标位置显示当前光标的位置上活跃的窗口。1.3建立一个新项目一个项目文件根本是一个收集所有函數和配置对象并反映在窗口上。在文件菜单中，选择new与MT模型触摸屏一个新的项目将被创建。File view help1 ）填写系统参数在编辑菜单中，选择系统参数 ，并就会出现下面的画面在这个画面中，有3个制表符， PLC ， 一般及指标 。选择PLC标签设置参数，连接可编程控制器，选择一般标签设置系统配置的项目，并选择指标选项卡设置属性系统的指标。PLC统计表PLC的类型：选择合适的PLC类型，从现有的临立会选择菜单。 硬件版本：选择版本的MT触摸屏手机，其中创建项目将被下载。 串口/传真：选择港口与PLC的，无论是RS - 232或RS - 485的。 波特率，奇偶，数据位和停止位：设置通信参数配合PLC。MT号：这是用来当多种MTS的，可以连接到PLC的连接，为例如AB类dh485或unitelway，有可能连接多向PLC，每个MT已被设定不同的号码设置为0时不使用。 PLC的站号：用于临立会的时候，有一个节点或号码设置为0时不用。 多种人机界面：允许一个以上的MT，以连接到一个可编程控制器，即使PLC只有一个通信端口。 禁用：禁用链状的多MT对一个可编程控制器控制：选择此MT，是当该MT直接连到可编程控制器從動裝置：选择这个时候的MT连接到在他前面的MT。人机界面-人机界面线速度：设置适当的传播速度之间的主MT和副MT，双方应订定相同的速度。该eview是能够支持主-副通信功能得到每一个PLC的支持。所有eview连接了一个又一个PLC。一个eview连接直接与PLC是配置为主机。所有其他eview其中连接到前面eview和检索PLC数据通过前面的人机界面是配置为次要。在理论上有是没有限制的人数eview对A链，但响应时间willgradually下降了三个多eview是联系在一起的一个链条。注：所有eview在连接必须设置相同的连接速度。当多人机界面 定为副 ， eview将不理会这些通信参数连接与PLC 。它将始终使用PLC RS - 232的数据检索前款eview 。PLC的时间常数：参数确定多久MT会等待PLC的反应。此设置时，需PLC是缓慢在此作出回应。 正常时间常数定为3.0秒。PLC block pack：MT会自动收集全部连续PLC数据和发送读命令，它极大地提高工作效率的沟通及改善响应时间。但是，如果数据是不连续的话，MT会读它单独的指挥。PLC定所允许的差距配置地址，甚至两个数据是不连续的地址，但是，如果不同的是， 不大于plc block pack MT则仍看pack，这些数据在一指挥，并从PLC读取。一般标签任务按钮：任务按钮，是用来弹出快速显示窗或显示图标栏。最小化窗口的图标放在该图标键。 属性：启用或禁用此功能。如果禁用快速视窗和任务不具备运行时间。 背景颜色：选择背景颜色的任务栏上。最小号视窗：设置若干窗口，可以最小化，以任务栏上。 位置：决定立场任务按钮，在左或右。 文本：确定是否文本显示在最小化窗口的图标是为本或左调整。警钟标示：警钟标示旋转所有报警信息一个接一个。 像素每滚动：设置像素数量的报警信息，以滚动（ 8 ， 16 ， 24或32条像素） ，数字越大，速度越快某一信息会显示出来。 滚动速度：设定时间间隔，以滚动，较小的数目更快的报警信息显示启动窗口号：这是窗口显示在屏幕上，当MT启动。背光源保护程式：吨MT掉背光，如果有不涉及操作预设时间（范围从1到30分钟） 。设置0时，禁止背光节省功能。光标颜色：设置彩色的光标时，输入数值，是为激活数据输入。蜂鸣器：禁用或使蜂鸣器行动中，蜂鸣器将启动时， 触摸屏被按下。常见的窗口：共同的窗口，是一个窗口，即叠加到基础窗上的任何时段。弹出窗口：设置属性的弹出窗口登记的，在共同窗口，它可以出现在正常运作（即最新弹出窗口总是显示在顶部） ，或放在上面。 制定共同的窗口：一套共同的窗口上面或下面基础窗口。额外超出的事件：MT是一套以容纳多达1000张的事件。如果有更多超过1000个活动是需要的情况下，增加多项活动，是进入这里。研训中心资料来源：定来源的时候，当日期事件信息的产生。 实时时钟数据可取自当地Word或内部实时时钟。如果本地字选定的，那是要建立起另一个测（数据传输）反对transferactual研训中心的数据由PLC在当地定期一词。如果内部研训中心被选定， 可选配方卡必须安装在CPU板。打印：用来设置打印机议定书，使印刷的时间标签和序列当数目事件信息，是印出来。 打印机：选择兼容的打印机驱动程序，在您的电脑上。打印序列号码：使印刷的一个序列数目随着这项活动的讯息。该序列号是每次递增一个。打印时间标记：使印刷的时间，日期与活动讯息。 错误检测：设置为忽略错误信号（如无纸） ，从打印机或举行传输的印刷数据，直到误差信号的清理。第一部分英文资料1. Startup 1.1 The First Step Set up the MT500 with PC and PLC as depicted below. a) connect PCRS-232 port of the MT500 to the PC. Since the PCRS-232 and PLCRS-485 share the same D-SUB connector , it is recommend to use MT5_PC to split it into two separate connectors at debug process. b) connect either PLCRS-485 or PLCRS-232 port of the MT500 to the PLC. (Please check the PLC signal type and cable listing in the back of this manual to assure proper port connections.)d) Connect DC 24V power to the power connector. Fail to connect the right pole may cause fuse in the MT500 burn out. e) Apply power and calibrate contrast adjust VR to the best viewing performance. (For MT500S only, not applicable for MT500T) f) Install EasyBuilder 500 on your PC and enter EasyManager after you finish the installation process. The Easy Manager is a software shell program for EasyBuilder : screen editor to configure eView MT5xx HMI (abbreviated as EB500). EasyWindow: simulate eView on the PC, after the project is complied by EB500(file with extension *.eob), the EasyWindow will retrieve the data from PLC through the eView and simulate the operation of eView on the PC screen. Using the Simulator on your debug process will save on time spent in repeat downloads. eView communicator: download/upload project and switch operation mode. Download :Download the project complied by EB500 to the eView. Upload : Upload the project image from eView to an object file (*.eob). The upload file cannot be opened by EB500 but can be transferred to another eView. This is useful for retrieving data from installed units to make a duplicate setup. Mode Change: The eView operates in three modes: RDS (Remote Debug & Simulation) mode: Used for simulation anddownload/upload. Application (On line operation) mode: This is the normal operating mode of the eView, the eView will start from the startup window of the project download. Touch Adjust (Touch screen calibration) mode: Used to calibrate the touch screen. The EasyWindow and eView communicator can also be invoked by EasyBuilder, however the communication setting (between PC and eView) is defined on the EasyManager as follows: COM Port : selecting the COM port that connected with the eView. Comm. Speed : to determine the communication speed between the PC and the eView during download and upload operations. Project Download/Upload or Recipe Download/Upload: to determine which data is sent or retrieved from the eView. Project: All Project related files Recipe: recipe data Full or Partial Download/Upload: This is only for project download/upload, “ Full” means project files and application program , “ Partial” means project files only.Now click the EasyBuilder button. The following popup dialog appears. Select the appropriate model that you are programming .1.2 EasyBuilder Screen Editor Functions Clicking on the Easy Manager s EasyBuilder button will cause the following screen to appear. The functions of each screen area are explained below.a. Title Bar Displays the project s file name, window number and title. b. Menu Bar Displays the menu used to select EasyBuilder commands. Selecting one of these causes the corresponding pull down menu to appear. c. Tool Bar Displays the icons corresponding to the File, Edit, Library, Compile, Simulationand Download command. d. State selector Clicking on this button toggles all the parts on the screen to a specified state. e. Alignment Make all the selected parts line up to the top, bottom, left or right. f. Object resize It makes the dimension, width or height of all the selected part to the same size. g. Position adjust Adjust the position of selected parts. h. Group / ungroup The group function makes a collection of selected parts and drawing elements as one object. i. Layer control Adjust the Layer of selected part one layer up, one layer down, to top layer and to bottom layer.j. Text size & position Change the font size and alignment of the selected text. k. Rotate and flip Allows shapes to be flipped horizontally or vertically and rotated in 90 degree increments. l. Parts tool box Icons representing each part type are shown. Clicking on one of these icons causes that icon s dialog box to appear. That part s attributes can then be set and the part can be placed on the screen. m. Window and object selection tree It provides a convenient way to select a window or a specified project. n. Drawing tool Icons representing each drawing tool are shown. Available drawing tools include line, rectangle, ellipse/circle, arc, polygon, scale, bit map graphics and shape. o. Cursor position Shows the current cursor position on the active window. 1.3 Creating a new project A project file ( .epj ) is simply a collection of all the windows and configured objects on the windows. In the File menu, select New and model of MT touch screen and a new project will be created.1) Fill in system parameter In the Edit menu, select System Parameter and the following screen willWithin this screen, there are three tabs, PLC , General and Indicator. Choosing PLC tag to setup parameters to link with PLC, choosing General tag to setup the system configuration of the project and choosing Indicator tab to set attribute of system indicator. PLC Tab PLC type : select appropriate PLC type from the available PLC selection menu. Hardware version: To select the version of the MT touch screen to which the created project will be downloaded. Serial port I/F : Select the port connected with PLC, either RS-232 or RS-485 . Baud rate, Parity, Data bits and Stop bits : Set the communication parameter to match with PLC. MT station No. : This is used when multiple MTs can connect to the PLC link, for example for AB DH485 or Unitelway driver, it is possible to connect multiple to thePLC link, each MT has to be set different station No. Set it as 0 when not used. PLC station No. : Used when PLC has a node or station No. Set it as 0 when not used. Multiple HMI : Allows more than one MT to be connected to one PLC, even PLC has only one communication port. Disable : Disable chaining of multiple MT to one PLC Master : Select this when the MT is the unit connected directly to the PLC Slave : Select this when the MT connect to the precedence MT. HMI-HMI line speed : Set appropriate communication speed between master MT and slave MT, both shall set the same speed. The eView is able to support master - slave communication feature for every PLC it supports. All the eView are connected one by one and the first one connects with the PLC. The one eView which connects directly with PLC is configured as master. All the other eView which connect to preceding eView and retrieves PLC data through preceding HMI are configured as slave. In theory there is no limitation for number of eView on a chain, however response time willgradually decrease when more than three eView are linked together in a chain. Wiring cable between eView Configuration Multiple HMI : Set “ Master” for the MT500 connects with PLC, set “ Slave” for the rest of the MT500. HMI-HMI line speed : select either 38400 or 115200 . Note: all the eView in the link must set the same link speed. When multiple HMI is set as “ slave” , the eView will ignore those communication parameters connect with PLC (serial port I/F, baud rate, .) . It will always use PLCRS-232 to retrieve data from preceding eView. PLC time out constant (sec.) : The parameter determine how long the MT will wait for the response from the PLC. This setting is required when the PLC is slow in response. Normal time out constant is set as 3.0 seconds. PLC block pack : The MT will automatically collect all continuous PLC data and send read command, it greatly increase efficiency of communication and improve response time. However if data is not continuous then the MT will read it byseparate commands. The PLC block pack set allowable gap between configured addresses, even two data is not continuous in address, however if the difference is not greater than PLC block pack then MT still read pack those data in one command and read it from the PLC.General Tab Task Button : The Task button is used to pop up the fast display window or display the icon bar. Minimized window s icons are put on the icon bar. Attribute : Enables or disables this feature. If disable the fast window and task bar are not available at run time. Background color : select background color of the task bar. No. of min. windows : Set the number of windows that can be minimized to the task bar. Position : determines the position of task button, in left or right. Text : determines if the text displayed in the minimized window icons is centered or left adjust. Alarm Bar : The alarm bar rotate all the alarm message one by one . Pixels per scroll : set the number of pixels of the alarm message to scroll ( 8, 16, 24 or 32 pixels), the larger the number the faster a given message will bedisplayed. Scroll speed : set the time interval to scroll, the smaller the number the fasterthe alarm message are displayed. Startup window No. : This is the window displayed on the screen when MT startup. Backlight saver : The MT turn off back light if there are no touch operations in preset time ( range 1 to 30 minutes ). Set 0 disables the backlight saver function. Cursor color : Set the color of cursor when the Numerical Input is activated for data entry. Buzzer : Disable or enable buzzer operation, the buzzer will activate when the touch screen is pressed.Common Window : Common window is a window that overlay to the base window at any times. Popup window : set the attribute of popup window registered in the common window, it can be popped up as normal (i.e. the latest pop up window is always displayed on the top.) or on the top . Draw common window : set the common window above or below base window. Extra. No. of Event : The MT is set to accommodate up to 1000 event. If more than 1000 event are needed, the additional number of event is entered here. For example if 1200 event messages are needed, 200 shall be entered in the Extra No. of event. RTC source : set the source of time of date when event message is generated. The RTC data can be retrieved from local word or internal RTC. If local word is selected then it is necessary to set another DF (Data Transfer ) object to transferactual RTC data from PLC to local word periodically. If internal RTC is selected, the optional recipe card must be installed in the CPU board. Print: Used to set printer protocol, enable the printing of time tag and sequence number when event message is printed out. Printer : select the compatible printer driver for your printer. Print sequence number : enable the printing of a sequence number along with the event message. The sequence number is incremented each time a new event comes up. Print time tag: Enable the printing of time of date along with event message. Error detection : Set to ignore error signals ( such as no paper ) from the printer or hold transmission of printed data until error signals are cleared. 第二部分：PLC控制机械手工作原理以数控机床的机械手为研究对象 ,采用可编程控制器( PLC)对其驱动装置进行顺序控制 ,实现了系统的智能化和柔性化.文中对系统的工作原理及机械本体、液压驱动和 PLC控制方案等方面进行了较为详尽的论述.数控加工中心的出现在减轻工人劳动强度的同时 ,大大提高了劳动生产率.但数控加工中常见的上下料工序 ,通常仍采用人工操作或传统继电器控制的半自动化装置 ,前者费时费工、效率低 ,后者因设计复杂 ,需较多继电器 ,接线繁杂 ,同时电气控制部分易受车体振动干扰 ,而存在可靠性差、故障多、维修困难等问题.为解决以上问题 ,我们研究开发了一套采用可编程序控制器 PLC 控制的上下料机械手控制系统.该系统动作简便、线路设计合理、具有较强的抗干扰能力 ,保证了系统运行的可靠性 ,降低了维修率 ,提高了工作效率.系统工作原理本系统的机械手(如图 1 所示)采用关节式整体结构 , 具有结构紧凑、运动平稳的特点 , 可以方便地实现无级调速. 该装置抓取工件重量可达40 kg50 kg , 工作范围最大为横向 1. 2 m , 纵向0. 8 m ,这些参数可根据实际需要进行调节.该系统主要是按照控制要求和机械手的运行路线驱动液压控制元件的电磁铁的得失电状态 ,从而控制液流的相关参数来达到控制机械手自动运行的。目的.具体的说 ,在该系统中主要控制的量参数有:(1) 根据液体压力与负载力的关系(式 1) :式中: P液体压力(Pa)F负载力(N)A 液体压力作用的有效面积(m2)1.机座 2.大臂 3.小臂 4.手腕 5.手指 6.油缸 7.料架图 1 机械手的机械结构简图可见:可通过控制液体压力来控制机械手抓取工件的重量 ,且满足重量可无级调节的要求;(2)该系统中 ,机械手的各组成部件按照一定的顺序执行一系列动作 ,因此需控制部件的运动方向和运行速度.部件的运行方向的控制主要通过外部限位开关或压力继电器的传递信号来改变液压回路的换向阀的工作位置 ,使液流按要求流动.部件的运行速度的控制则是根据流量和速度的关系(式 2) : =qA式中: 部件运行速度(m/ s)q液体的流量(m3/ s)A 液体压力作用的有效面积(m2)可见:可以通过控制液压系统的流量来控制运动部件的运行速度 ,且满足速度可无级调节的要求.系统的运行情况如下:系统启动时 ,首先进行自检 ,若设备检验正常 ,则机械手处于待料位置 ,泵站电机处于卸荷状态.当控制系统检测到加工结束的信号传来时 ,机械手开始动作 ,其具体动作过程如下:原始位置 小手臂伸出 手指夹紧(抓住卡盘上的工件)经短时延时 手腕向左逆摆 (从卡盘上卸下工件) 大臂旋转180小手臂伸出(上料) 开关发出料到位信号 手指松开(放料) 小手臂缩回 小手臂上摆(同时卡盘夹紧工件 ,机床开始加工) 大手臂下摆 手指松开(将工件放在料架上) 小手臂缩回 大臂旋转180同时料架转位(转 60 ) 小手臂伸出 手指夹紧(抓住待加工的工件) 大手臂上摆(从料架上取走工件) 小手臂水平待料 ,系统原位卸荷.2 系统结构组成机械手的整个系统主要由控制系统、驱动系统和执行系统三部分组成 ,其结构框图如图 2 所示. 主控制机械手液压驱动系统位置传感器主控面板状态显示可编程控制器图 2 机械手的系统结构图控制系统主要包括:位置检测装置、可编程控制器、主控柜、及主控面板(状态显示和操作按钮) .位置检测装置主要由接近开关组成 ,用来检测机械手行程终点及有无工件 ,并把相关信号迅速传递到控制中心.驱动系统采用全液压驱动 ,保证了整机动作迅速、平稳 ,特别是满足了机械手伸缩臂的动作精度 ,及需承受大负载及运动性能等方面的特殊要求.执行系统由升降机构、回转机构、手臂伸缩机构、手部夹持机构、定位机构等组成 ,整体为圆柱关节式结构.与传统的上下料机械手不同的是:该系统采用了具有双夹持结构的手臂设计(如图 1 示) ,在其中一夹持机构卸料后 ,手臂旋转一定角度 ,另一夹持机构上料 ,在两次上下料之间机械手臂往返各一次 ,与传统的往返各两次比较更加节省时间 ,效率更高.第二部分英文资料PLC-based hydraulic manipulator control systemCNC machine tools to the upper and lower material for the research object manipulator, a programmable logic controller (PLC) on the hydraulic-driven devices Sequence control of the system to achieve the intelligent and flexible paper on the working principle and mechanical body, hydraulic drive and PLC control programmes in areas such as a more detailed exposition. CNC machining centers in reducing the emergence of labor workers the same intensity , Greatly increasing the labor productivity. NC but common materials processes from top to bottom, usually still use the traditional manual or semi-automatic relay control devices, the former time-consuming, inefficient, the latter due to design complexity, need more more relays, complicated wiring, electrical control of the vulnerable body vibration interference and poor reliability of existence, failure, maintenance problems and other issues. order to solve the above problem, we developed a study using PLC PLC control The upper and lower material manipulator control system. action of the system is simple, rational design of circuits and has strong anti-jamming capability, and ensured the systems reliability, reduce maintenance and improve work efficiency.Principle 1 system Of the system from top to bottom manipulator material (as shown in Figure 1) using the overall structure of joints, a compact structure, the characteristics of smooth movement can be easily achieved stepless speed regulation. Crawl workpiece weight of the device up to 40 kg to 50 kg , the scope of work for the largest horizontal 1.2 m, vertical 0.8 m, and these parameters can be adjusted according to actual needs. mainly on the basis of the system requirements and control the operation of manipulator line drive hydraulic control components, the pros and cons of the electromagnet state and thus control the flow control parameters to achieve manipulator automatically running. Objective. Specifically, in the system of control of the main parameters are: (1) In accordance with liquid pressure and the load of (-1):P - liquid pressure (Pa) F - load of (N) A liquid pressure - the effective surface area (m2)1. Machine Block 2. Arm 3. Arm 4. Wrist 5. Fingers 6. Fuel tank 7. RacksFigure 1 manipulator diagram of the mechanical structure(2) The system, the manipulator must all components in accordance with the implementation of a series of moves in the order, to control the direction and movement of components operating speed. Components of the control of the main direction of travel limit switches or through external pressure Relay transmission signal to change the hydraulic circuit of the work of reversing valve position, liquid flow, as required. components of the speed control are based on the relationship between the flow and speed (type 2) components - speed (m / s) Q - the flow of the liquid (m3 / s) A liquid pressure - the effective surface area (m2)This shows that: can control the flow of the hydraulic system to control the movement of components operating speed, and speed can not meet the requirements of regulation level. System operation is as follows: System was activated, self-inspection in the first place, if the normal test equipment, the manipulator in a position to be expected, the electrical pumping station in unloading state. Control system detected when processing the signal came at the end, the manipulator start movement, the specific action process as follows: original location small arms extended fingers clampin
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