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1井式加热炉抓取机械手电气控制系统的设计作者姓名：王强专业名称：自动化指导教师：杨斌讲师2摘要工业机械手是一种仿人操作、自动控制、可重复编程且能在四维空间完成各种作业的机电一体化自动生产设备。对稳定和提高产品质量，提高生产效率，改善劳动条件和产品的快速更新换代起着十分重要作用，特别适合于多品种、变批量的柔性生产。本课题主要任务是设计一抓取机械手来完成无人化工厂中某一阶段性工作。机械手系统采用圆柱坐标方式，由PLC作为中央控制单元，控制三路交流伺服驱动器、位置单元模块及其它功能块，驱动各轴伺服电机准确定位。定位完成后，再执行手部抓取动作，以完成指定任务。设计了上位机组态，方便人们监视现场运行情况以及实现故障准确定位，并简单叙述系统参数设置及调试方法。本文重点解决的问题——电气控制系统设计本课题中主要内容：(1)机械手方案设计及驱动电机选型；(2)电气控制系统硬件线路设计；(3)控制系统程序设计；(4)上位机组态设计及系统调试；关键词：机械手交流伺服控制器PLC组态松下3AbstractIndustrialmachineryhandisafakepersonoperation,automaticcontrol,programmableandcancompleteallkindsofoperationsinfour-dimensionalspaceelectromechanicalintegrationautomaticproductionequipment.Tostabilizeandimproveproductquality,improveproductionefficiency,improvelaborconditionsandtherapidupgradingofproductsplaysaveryimportantrole,especiallysuitableformanyvarieties,varyingquantitiesofflexibleproduction.Themaintaskistodesignagrippingmanipulatortocompletenochemicalplantinaphasedwork.Manipulatorsystemusingacylindricalcoordinate,byPLCasthecentralcontrolunit,controlofthreeACservodriver,positionunitmoduleandotherfunctionalblocks,theaxisservomotorpositioning.Positioningiscompleted,thentheexecutionofhandgraspingmovements,tocompletetheassignedtask.DesignofPCconfiguration,convenientforpeopletomonitorthesiteoperationandtherealizationofaccuratefaultlocation,andbrieflynarratessystemparametersettinganddebuggingmethod.Thispaperfocusonsolvingproblems--electricalcontrolsystemdesignInthispaperthemaincontents:(1)manipulatordesignanddrivethemotorselection;(2)theelectricalcontrolsystemhardwarecircuitdesign;(3)thecontrolsystemprogramdesign;(4)PCconfigurationdesignandsystemdebugging;Keywords:manipulator,Panasonic,ACservocontroller,PLC,configuration4目录摘要....................................................................................................................2Abstract...............................................................................................................3目录....................................................................................................................4前言....................................................................................................................61绪论................................................................................................................81.1机械手概况...........................................................................................81.2机械手简史..........................................................................................81.3机械手发展状况..................................................................................91.4简述机械手分类................................................................................101.5机械手发展趋势................................................................................121.6本课题任务........................................................................................122抓取机械手方案设计...................................................................................142.1机械手总体结构设计及基本参数.....................................................142.2手部结构设计.....................................................................................152.3机械手移动基座设计.........................................................................172.3.1基座设计......................................................................................172.3.2基座伺服电机选型.....................................................................182.4升降系统机构设计............................................................................202.4.1升降机构设计.............................................................................202.4.2升降伺服电机选型.....................................................................213机械手电气控制系统设计...........................................................................233.1伺服电机及驱动器简介....................................................................233.1.1交流伺服电机...............................................................................233.1.2伺服控制器...................................................................................243.2机械手电气系统设计........................................................................263.2.1主电路设计..................................................................................263.2.2控制电路设计..............................................................................294机械手控制系统设计...................................................................................324.1可编程逻辑控制器............................................................................324.2系统I/O点数及地址分配................................................................364.3系统程序设计....................................................................................384.3.1加热炉放料程序设计.................................................................394.3.2加热炉取料及淬火程序设计.....................................................455上位机组态及系统调试................................................................................485.1组态概念介绍....................................................................................485.2机械手系统组态设计....