齐齐哈尔大学毕业设计（论文）
摘 要
自 21 世纪以来，作为高科技前沿技术之一的机械手技术发展迅猛，广泛应用于各行各业，工业上运用机械手主要进行焊接、装配、搬运、加工、喷涂、码垛等复杂危险枯燥的作业。智能机械手技术是综合了计算机、控制理论、机构学、信息和传感技术、人工智能、仿生学等多学科而形成的高新技术，其应用情况标志着一个国家高科技水平和工业自动化的发展程度。本设计采用的是电气控制，智能码垛机械手基于PLC（Programmable logic Controller，简称 PLC）的控制系统设计。
本设计主要由硬件设计和软件设计两大部分组成，其中硬件设计包括主电路、控制电路以及电气控制线路的设计，软件设计包括流程图和梯形图的设计。主电路由伺服电机、热继电器、熔断器、接触器构成；控制电路由PLC控制器、传感器、驱动器等构成，并且在控制中加入智能算法，运用反馈闭环控制使码垛机械手更加精确运行。在设计中由传感器光电传感器等将位置、力度信号传给PLC主机，PLC通过控制各个驱动器实现电机的正反转，从而控制机械手的左右、伸缩运动，及手爪对物件的抓放。动作灵活多样，并可根据工作环境变化及运动流程要求随时更改相关参数。最后，借助于智能控制理论，对码垛机器人手臂的运行位置进行了智能优化。在基于S7-200 PLC为核心技术进行研发其控制系统指令表程序并调试，形成手动、全周期半周期及单步控制方式，对越来越广泛应用的“机-电”形成的自动化控制装置进行研究与推广。
关键词：智能机械手；传感器；驱动器；智能算法；PLC控制
I
齐齐哈尔大学毕业设计（论文）
Abstract
Since the 21st century, as one of the high-tech cutting-edge technology of the manipulator technology developing rapidly,is widely used in each Walks of life,Industrial use of robots mainly for welding, assembling handling, processing, spraying, pallet and other complex dangerous boring job.Intelligent manipulator is a combination of computer technology, control theory, organization learning, information and sensing technology, artificial intelligence, bionics and other -disciplinary and formation of the new and high technology, its application marks a national high-tech level and the development of industrial automation degree.Electrical control are introduced in this paper, intelligent stacking manipulator based on PLC (Programmable logic Controller, herein after referred to as PLC) control system design.
This design is mainly composed of hardware design and software design of two parts， the hardware design including main circuit, control circuit and the design of electrical control circuit, software design including the design of the flow diagram and ladder diagram.Main circuit, thermal relay, fuse, a servo motor contractor；Control circuit by PLC controller, sensors, drives, and travel switch, etc.And join in the control of intelligent algorithm, using the feedback closed-loop control to make stacking manipulator more precise operation.By sensors in the design and the switch position, strength signal to the PLC host, PLC by controlling the drive of the motor and reversing, the pallet trajectory of robot arm intelligent optimization and tracking control.Based on S7-200 PLC as the core technology research and development of the control system of ladder diagram program, instruction sheets and debugging, the formation of manual and full cycle half cycle and single step control method of more and more widely used electrical automation control device for research and extension.
Key words: Intelligent manipulator;The sensor;Drive;Intelligent algorithms;PLC control
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齐齐哈尔大学毕业设计（论文）
目 录
摘要 ........................................................................................................................................................ I Abstract ................................................................................................................................................ II
第1章 绪论 ..................................................................................................................................... 1
1.1 课题背景与意义 .............................................................................................................. 1
1.1.1 研究背景 ............................................................................................................... 1 1.1.2 研究意义 ............................................................................................................... 2 1.2 国内外研究现状与发展趋势 ....................................................................................... 2 1.3 机械手的各类型与用途比较 ....................................................................................... 4 1.4 研究内容及章节安排 .................................................................................................... 7
1.4.1 主要研究内容 ...................................................................................................... 7 1.4.2 主要难点 ............................................................................................................... 7 1.4.3 章节安排 ............................................................................................................... 7
第2章 智能码垛机械手的总体方案设计 ............................................................................... 9
2.1 基于PLC的智能机械手总体设计方案与论证...................................................... 9
2.1.1 方案设计 ............................................................................................................... 9 2.1.2 方案论证 ............................................................................................................ 10 2.2 机械手的主要结构及控制方案 ................................................................................ 11
2.2.1 机械手的基本结构........................................................................................... 11 2.2.2 机械手的基本结构设计 ................................................................................ 12 2.3 机械手的工作参数及工作流程 ............................................................................... 12 2.4 码垛机械手硬件部分选型与设计 ........................................................................... 14
2.4.1 机械手爪的结构设计选型 ............................................................................ 14 2.4.2 伺服电机选型 ................................................................................................... 14 2.4.3 驱动器的选择 ................................................................................................... 17 2.5 传感器的选型 ............................................................................................................... 21
2.5.1 末端触力传感器设计选型 ............................................................................ 21 2.5.2 光电传感器设计选型 ..................................................................................... 23 2.6 主电路的设计 ............................................................................................................... 24
2.6.1 熔断器的选择 ................................................................................................... 24 2.6.2 热继电器的选择 .............................................................................................. 24 2.6.3 接触器的选择 ................................................................................................... 24
齐齐哈尔大学毕业设计（论文）
第3章 系统的软件设计及智能算法的研究 .......................................................................... 26
3.1 PLC的选型与端口设计 ............................................................................................. 26
3.1.1 PLC型号的选择 .............................................................................................. 26 3.1.2 PLC输入输出端口的设置............................................................................ 26 3.2 机械手特殊环节的软件设计 .................................................................................... 27 3.3 控制规律与智能算法 ................................................................................................. 29
3.3.1 伺服驱动器的闭环控制 ................................................................................ 29 3.3.2 控制智能算法 ................................................................................................... 30 3.4 软件的编程 .................................................................................................................... 32 第4章 智能机械手的调试 ....................................................................................................... 33
4.1 机械手的流程 ............................................................................................................... 33 4.2 机械手现场调试及路径规划分析 ........................................................................... 34 4.3 智能码垛机械手示意 ................................................................................................. 36 结论 ..................................................................................................................................................... 39 参考文献............................................................................................................................................ 40 附录 ..................................................................................................................................................... 41 致谢 ..................................................................................................................................................... 44