基于PLC的三自由度氣動(dòng)機(jī)械手搬運(yùn)系統(tǒng)的設(shè)計(jì)

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It is to meet the high-precision, high speed, complex parts processing and there is automatic, digital, flexible, information-oriented, integrated, network-based foundation, the soul of modern machine tools and equipment and the core, has a wide range of application fields and broad application prospects. 1, numerical control technology and equipment development trends and countermeasures The equipment industrys technical level and degree of modernization of the entire national economy determines the level and degree of modernization, numerical control technology and equipment is the development of new high-tech industry and cutting-edge industries (such as information technology and its industry, biotechnology and its industry, aviation, aerospace, etc. defense industry industries) enabling technology and basic equipment. Marx once said, the difference between the various economic era, is not what is produced, but rather how to produce, what the production of labor. Manufacturing technology and equipment is the most basic of human means of production activities, while the numerical control technology is todays most advanced manufacturing technology and equipment, the core technology. Widely adopted by nations in the world manufacturing numerical control technology to improve manufacturing capacity and level, to improve the dynamic changing market adaptability and competitiveness. In addition, all industrial countries in the world and CNC numerical control technology and equipment will also be listed as a national strategic goods, not only to take significant steps to develop its own CNC technology and its industry, but also in the sophisticated numerical key technologies and equipment to China imposition of closures and restrictions. In short, the vigorous development of numerical control technology as the core of advanced manufacturing technology has become the worlds developed countries to accelerate economic development, enhance overall national strength and an important way to statehood. CNC technology is to use digital information on the mechanical movement and the work process control technology, CNC numerical control technology and equipment is represented by new technologies on traditional manufacturing industries and the penetration of the formation of new manufacturing electromechanical integrated product, so-called digital equipment , and its technology, covering many areas: (1) Mechanical manufacturing technology; (2) information processing, processing and transmission technology; (3) automatic control technology; (4) servo drive technology; (5) sensor technology; (6) software technology. Second, the development of numerical control system at home and abroad overviewWith the rapid development of computer technology, the traditional manufacturing industries began a fundamental change, the industrialized countries invested heavily in modern manufacturing technology research and development and put forward a new manufacturing model. In modern manufacturing systems, numerical control technology is the key technology, which combines micro-electronics, computer, information processing, automatic detection, automatic control and other high-tech in one, with high precision, high efficiency, flexibility and automation features to achieve flexible manufacturing automation, integrated, intelligent play a decisive role. At present, the numerical control technology is undergoing a fundamental transformation, from special-purpose closed-open-loop control mode to the general-purpose real-time dynamic open-loop control mode. In an integrated basis, numerical control system to realize ultra-thin, ultra-small; in based on intelligent, integrated computers, multimedia, fuzzy control, neural networks, multi-disciplinary technical, numerical control system to realize high-speed, high-precision, efficient control of during processing can automatically correct, regulation and compensation of various parameters to achieve an online intelligent fault diagnosis and treatment.For a long time, Chinas numerical control system for the traditional closed architecture, CNC machine tool only as a non-intelligent motion controller. Machining process variables based on experience in advance the form of a fixed parameter setting, the actual processing of pre-processing by hand or through a CAD / CAM and automated programming systems to prepare. CAD / CAM and CNC is no feedback between the control link, the entire manufacturing process, CNC is a closed-door open-loop enforcement agency. In a complex environment and the changeable conditions, the combination of processing tool, workpiece material, spindle speed, feed rate, tool path, cutting depth, step length, machining allowance, and other processing parameters can not be in the field environment, under the external disturbances and random factors, real-time dynamic adjustment of feedback control can not be more random links to amend CAD / CAM in the set amount, thus affecting the working efficiency and product CNC machining quality. Thus, the traditional CNC system, such a fixed process control mode and closed architecture, limited to the multi-variable intelligent control of CNC development, has not suited to the increasingly complex manufacturing process, therefore, to develop numerical control technology as the core of the advanced manufacturing technology has become our country to accelerate economic development, enhance overall national strength and an important way to statehood.Third, the development trend of numerical control technology The application of CNC technology to traditional manufacturing industry is not only a revolutionary change in the manufacturing industry to become a symbol of industrialization, and with the numerical control technology, continuous development and expansion of application fields, his peoples livelihood some of the important development of the industry plays a an increasingly important role. NC from the current world trend of technological development, mainly the following aspects: 1. High-precision, high-speed development trend Although more than 10 years ago, the trend appeared in high-precision high-speed, but the scientific and technological development is not enough, high-precision, high-speed is also changing the connotation of being towards the development of accuracy and speed limits. Efficiency, quality is the main body of advanced manufacturing technology. High-speed, high-finishing technology can greatly improve efficiency, improve product quality and grades, and shorten the production cycle and improve market competitiveness. To this end, Japan will study advanced technologies listed it as one of five major modern manufacturing technology, the International Institute of Production Engineering be identified as the 21st century, one of the central research directions. In the car industry, the production of an annual output of 300,000 beat is 40 seconds / vehicle, and most varieties of processing is a car equipped with one of the key issues that must be addressed; in aviation and aerospace industry, its processing parts are mostly thin-walled and thin bars, stiffness is poor, aluminum or aluminum alloy material, and only at high cutting speed and cutting force in the case of a small can of these ribs, the wall processing. Recently, large single piece aluminum alloy billets, hollowed out approach to create the wings, fuselage and other large parts to replace multiple components through a large number of rivets, screws and other connecting means assembly, so that components of the strength, stiffness and reliability. These are made of processing equipment, high speed, high precision and high flexibility requirements. 2.-Axis simultaneous machining, and rapid development of complex machine tools 5-axis machining of three-dimensional curved surface parts can be used the best tool for cutting geometry, not only finish high, but efficiency is greatly improved. Is generally believed that, 1 5-axis machine tools can equal the efficiency of 2 sets of 3-axis machine tools, particularly the use of cubic boron nitride and other superhard materials, high-speed milling cutter hardened steel components, 5-axis simultaneous machining comparable three-axis process giving a higher efficiency. But in the past due to 5-axis numerical control system, host complex structure and other reasons, its price than the 3-axis CNC machine tools are several times higher, plus the programming more difficult, limiting the development of five-axis machine tools. Present, due to the emergence of spindle, allowing to achieve 5-axis simultaneous machining of composite spindle head structure greatly simplified and its manufacturing difficulties and costs significantly reduced, narrowing the gap between the price of CNC system. Therefore, the promotion of the composite spindle head type five-axis machine tools and complex machining machine tools (including the 5-sided machining, machine tools) development. 3. Intelligent, open, network-based development of contemporary numerical control system the main trends CNC equipment in the 21st century will be a certain intelligent systems, intelligent content included in the numerical control system in all areas: the pursuit of processing efficiency and processing quality of the intelligence, such as the adaptive control process, process parameters automatically generation; To improve drive performance and the use of intelligent and convenient connections, such as feedforward control, the electrical parameters of the adaptive computing, automatic identification of negative auto-selection model, self-tuning, etc.; to simplify programming and streamline operational aspects of intelligence, such as smart Auto-oriented programming, intelligent man-machine interface, etc.; there are intelligent diagnosis, intelligent control aspects, to facilitate the system diagnosis and maintenance. To address the traditional closed and CNC numerical control system application software industrial production problems. At present, many countries conduct a study of open CNC system, CNC system and opening up has become a numerical control system of the future path. The so-called open-architecture CNC system is the development of numerical control system can be run in a unified platform for machine tool manufacturers and end users, by changing, adding or cutting the structure object (numerical control function), the formation of serialization, and can be easily users for special applications and technical know-how into the control system, quick realization of different varieties and different grades of open CNC system, to form a distinctive brand personality. Currently open CNC system architecture specification, communication specifications, configuration specifications, operating platform, CNC system function library and function of numerical control system software development tools is the core of current research. NC network equipment is well-known international machine tool fair the past two years a new bright spot. NC network equipment will greatly satisfy the production lines, manufacturing systems, manufacturing information integration needs of enterprises, but also to achieve new manufacturing paradigms such as agile manufacturing, virtual enterprises, global manufacturing base unit. Some well-known at home and abroad CNC machine tools and CNC manufacturing companies are launched in the last two years, the related new concepts and prototypes, reflecting the NC machine to the network in the direction of the trend. IV Conclusion As people focus on the numerical control technology, its development more and more rapidly. This paper briefly presented the current development trend, additional numerical techniques are steadily becoming integrated, parallel, there are still vast room for development. References:1 Wang Lixin. On the numerical control technology, the development trend of J. Chifeng College, 2007.2 DONG Chun. Numerical control system of the new trends in technology development J. Programmable controllers and factory automation, 2006.3 Ya-Li. Outlined the development of a new trend of NC J. Land and Resources of Higher Vocational Education Research, 2005.4 Fang. CNC technology development and means of J. Science and Technology Information, 2008.三自由度氣動(dòng)機(jī)械手搬運(yùn)系統(tǒng)的設(shè)計(jì)目 錄目 錄I摘 要IVAbstractV第一章 前言11.1 研究的目的及意義11.2 機(jī)械手在國(guó)內(nèi)外現(xiàn)狀和發(fā)展趨勢(shì)11.3 主要研究的內(nèi)容21.4 解決的關(guān)鍵問(wèn)題3第二章 執(zhí)行系統(tǒng)的分析與選擇42.1執(zhí)行機(jī)構(gòu)坐標(biāo)形式的選擇42.2 執(zhí)行機(jī)構(gòu)的組成62.3 執(zhí)行機(jī)構(gòu)各部分的分析與選擇62.3.1 手部的選擇62.3.2 手臂結(jié)構(gòu)的選擇82.3.3 機(jī)座結(jié)構(gòu)的選擇92.4 執(zhí)行機(jī)構(gòu)的工作原理102.5執(zhí)行機(jī)構(gòu)簡(jiǎn)圖10第三章 驅(qū)動(dòng)系統(tǒng)的分析與選擇123.1 驅(qū)動(dòng)系統(tǒng)的分析與選擇123.2 機(jī)械手驅(qū)動(dòng)系統(tǒng)的控制設(shè)計(jì)133.3 氣動(dòng)元件選取及工作原理143.3.1 氣源裝置143.3.2 執(zhí)行元件153.3.3 控制元件163.3.4 輔助元件173.3.5 真空發(fā)生器183.3.6 吸盤183.4 氣動(dòng)回路的工作原理18第四章 控制系統(tǒng)的分析設(shè)計(jì)224.1 控制系統(tǒng)的組成結(jié)構(gòu)224.2 控制系統(tǒng)的性能要求224.3 傳感器的選擇234.3.1 位置檢測(cè)裝置234.3.2 滑覺(jué)傳感器234.3.3 視覺(jué)傳感器244.4 控制系統(tǒng)PLC的選型及控制原理254.4.1 PLC控制系統(tǒng)設(shè)計(jì)的基本原則254.4.2 PLC種類及型號(hào)選擇304.4.3 I/O點(diǎn)數(shù)分配304.4.4 PLC外部接線圖324.4.5 機(jī)械手控制原理324.5 PLC程序設(shè)計(jì)344.5.1 總體程序框圖344.5.2 初始化及報(bào)警程序364.5.3 手動(dòng)控制程序374.5.4 自動(dòng)控制程序39第五章 總結(jié)與展望42參考文獻(xiàn)43致 謝44附 錄45 摘 要 機(jī)械手在先進(jìn)制造領(lǐng)域中扮演著極其重要的角色。它可以搬運(yùn)貨物、分揀物品、代替人的繁重勞動(dòng)?？梢詫?shí)現(xiàn)生產(chǎn)的機(jī)械化和自動(dòng)化，能在有害環(huán)境下操作以保護(hù)人身安全，因此被廣泛應(yīng)用于機(jī)械制造、冶金、電子、輕工和原子能等部門。 本文在縱觀了近年來(lái)機(jī)械手發(fā)展?fàn)顩r的基礎(chǔ)上，結(jié)合機(jī)械手方面的設(shè)計(jì)，對(duì)機(jī)械手技術(shù)進(jìn)行了系統(tǒng)的分析，提出了用氣動(dòng)驅(qū)動(dòng)和PLC控制的設(shè)計(jì)方案。采用整體化的設(shè)計(jì)思想，充分考慮了軟、硬件各自的特點(diǎn)并進(jìn)行互補(bǔ)優(yōu)化。對(duì)物料分揀機(jī)械手的整體結(jié)構(gòu)、執(zhí)行結(jié)構(gòu)、驅(qū)動(dòng)系統(tǒng)和控制系統(tǒng)進(jìn)行了分析和設(shè)計(jì)。在其驅(qū)動(dòng)系統(tǒng)中采用氣動(dòng)驅(qū)動(dòng)，控制系統(tǒng)中選擇PLC的控制單元來(lái)完成系統(tǒng)功能的初始化、機(jī)械手的移動(dòng)、故障報(bào)警等功能。最后提出了一種簡(jiǎn)單、易于實(shí)現(xiàn)、理論意義明確的控制策略。通過(guò)以上部分的工作，得出了經(jīng)濟(jì)型、實(shí)用型、高可靠型物料分揀機(jī)械手的設(shè)計(jì)方案，對(duì)其他經(jīng)濟(jì)型PLC控制系統(tǒng)的設(shè)計(jì)也有一定的借鑒價(jià)值。關(guān)鍵詞: 機(jī)械手，氣動(dòng)控制，可編程控制器（PLC），自動(dòng)化控制，物料分揀。Abstract Manipulator plays an extremely important role in the field of advanced manufacturing. It can carry goods, sort materials and do heavy works instead of the human being. It also can realize mechanization and automation of the production, do the jobs in harmful environment to protect the personal safety. So it is widely used in metallurgy, machinery manufacturing, electronics, light industry and atomic energy etc.In this paper,by reviewing the developmental status of the manipulator in recent years, combining the design of manipulator and systematic analyzing technology of the manipulator, We proposed the design scheme that the manipulator was driven by the pneumatic and the system was controlled by PLC. Integrative idea was adopted in this design to fully consider the characteristics of the software and hardware and complementary optimization. We analyzed and designed the overall structure, the implementation of structural, driving system and control system of the manipulator. We used pneumatic-driven in the driving system, PLC control unit in the control system to complete initialization of the system, manipulators moving, failure alarm and so on. Finally we put forward a control strategy which is simple, easy to realize, and clear theoretical significance. Through the work above, a practical, economical, high-reliability sorting material manipulator was designed, which also had certain reference value for the other types of economical PLC control system design. Key words: manipulator ；pneumatic-driven； programmable logic controller (PLC)； automatic control；sorting materials