1、 摘 要 机械手是工业机器人系统中传统的任务执行机构，是机器人的关键部件之 一。机械手的机械结构采用滚珠丝杆、滑杆、等机械器件组成；电气方面有交流 电机、变频器、传感器、等电子器件组成，由可编程控制器操控。该装置涵盖了 可编程控制技术，位置控制技术、检测技术等。本文介绍的机械手是由 PLC 输出 三路脉冲，分别驱动横轴、竖轴变频器，控制机械手横轴和竖轴的精确定位，微 动开关将位置信号传给 PLC 主机；位置信号由接近开关反馈给 PLC 主机，通过交 流电机的正反转来控制机械手手爪的张合，从而实现机械手精确运动的功能。本 课题拟开发的施釉机械手可在空间抓放物体， 动作灵活多样， 可代替人工的劳累
2、、 繁杂、重复的工作，并可根据工件的变化及运动流程的要求随时更改相关参数。 1 Abstract 关键词关键词：机械手 PLC 可编程控制器 釉 Industrial robot manipulator is the task of traditional system, is one of the key components of robot. Mechanical structure of the manipulator using ball screw, slider, machinery parts, Electrical motor, ac inverter, is compose
3、d of electronic devices, such as the sensor. This device covers a programmable control technology, the position control technology and testing technology, etc, and is the typical electromechanical equipment. The paper introduced by PLC output manipulator is 3 pulse, respectively, the vertical axis i
4、nverter driving distrbution, control and vertical axis of the robot distrbution precise positioning, micro switch will position signal to PLC host, Location signal by proximity switch feedback to PLC host, through the ac motor is FanZhuanLai control of the robot hand, so as to realize the manipulato
5、r zhang precise movement function. This subject to the material handling in space manipulator can be caught, flexible put objects, can replace artificial in high temperature and dangerous section for homework, and according to the motion process workpiece and requirements of related parameters change at any time. Keywords: manipulator PLC controller manipulator glaze 目录目录 摘 要 Abstract 第1章 引言3 1.1 陶瓷行业对机械手的需求3 1.2 国内外对机械手的研究 状态 3 1 . 3 现 代研 究 趋势 4 1.4 PLC 应用简介5 第 2 章 机械手的一般知识 7 第 3 章施外釉机械手驱动方式的确定10 3.1 气压驱动10 3.2 液压驱动 11 3.3 电机驱动
