摘 要
随着可编程控制器应用技术的不断发展，PLC的应用范围日益扩大，使得当今工程 技术人员在设计电气控制系统时，考虑选用PLC控制取代接触器控制。本文重点分析了基于PLC的机械手控制系统的组成，并详细叙述了在以PLC为核心的基础上，对交流异步电动机进行综合控制的软、硬件的实现方法。该系统利用异步电动机正反转旋转以及脉冲调速的特点，对其采用调频控制。因此可将整个运动视为折线运动，每一个动作可视为运动程序相同、特征参数各异的点位相对运动。其以起点作为参考点，通过脉冲计数得到目的点的位置，手动操作机械手从参考点运动到目的点后，保存目的点位的特征参数，并统一进行列表管理。从而实现手动模式下运用关键点位输入及自动模式查表方式的“仿形”动作。
本文对机械臂进行总体方案设计，确定了机械臂的坐标形式和自由度，确定了机械臂的技术参数。同时，设计了机械臂的夹持式手部结构，设计了机械臂的手腕结构，计算出了手腕转动时所需的驱动力矩和回转气缸的驱动力矩。设计了机械臂的手臂结构。设计出了机械臂的气动系统，绘制了机械臂气压系统工作原理图，对气压系统工作原理图的参数化绘制进行了研究，大大提高了绘图效率和图纸质量。利用可编程序控制器对机械臂进行控制，选取了合适的PLC型号，根据机械臂的工作流程制定了可编程序控制器的控制方案，画出了机械臂的工作时序图，并绘制了可编程序控制器的控制程序。
关键词：机械臂；机械手；PLC；控制设计
ABSTRACT
With the continuous development of programmable controller technology, the application of PLC is expanding day by day, so that today's engineering and technical personnel in the design of electrical control system, consider the use of PLC control instead of contactor control. This paper focuses on the composition of the PLC-based robot control system, and describes in detail the software and hardware implementation of the AC asynchronous motor based on the PLC as the core. The system uses the asynchronous motor forward and reverse rotation and pulse speed characteristics, the use of FM control. So the whole movement can be regarded as polyline movement, each action can be regarded as the same motion program, the characteristics of different points of the relative movement. The starting point as the reference point, through the pulse count to get the location of the target, manually manipulate the robot from the reference point after the movement to the destination point, save the destination point of the characteristic parameters, and unified list management. In order to achieve the use of manual mode key input and automatic mode look-up table "copy" action.
In this paper, the overall design of the robot arm to determine the coordinates of the robot arm and the degree of freedom to determine the technical parameters of the robot. At the same time, the clamping structure of the manipulator is designed, and the wrist structure of the manipulator is designed. The driving torque and the driving torque of the rotary cylinder are calculated. The arm structure of the manipulator is designed. The working principle of the mechanical arm pressure system is designed, and the parametric drawing of the working principle diagram of the air pressure system is studied, which greatly improves the drawing efficiency and the quality of the drawing. The programmable controller is used to control the manipulator, and the appropriate PLC model is selected. According to the working flow of the manipulator, the control scheme of the programmable controller is worked out, and the working timing diagram of the manipulator is drawn and Programmed program control program.
Key words: manipulator; manipulator; PLC; control design
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