论文总字数：27483字

摘 要

三自由度移载机器人具有空间上相互垂直的三根直线移动轴，通过三个轴确立移载托盘的空间位置，X轴的前后移动确定X轴的位置，Y轴的前后移动确定Y轴的位置，Z轴的上下移动确定Z轴的位置，移载机器人的主要作用是改变物体的空间位置，并配合其他设备进行加工、换向、安装等操作。三自由度移载机器人结构简单，可重复编程，性能稳定，其运动轨迹容易求解，但它的运动范围较小，功能较单一。与国外前沿科技水平相比，我国工业机器人技术的发展和应用暂时落后。工业机器人的发展影响着我国自动化水平的提高，因此对移载机器人的研究设计是非常有意义的。

本设计主要研究三自由度移载机器人控制系统设计与实现，采用PLC作为核心控制器，由PLC输出脉冲，控制伺服电机的转动，限位开关将位置信号反馈给PLC.使移载托盘上的工件到达指定加工位置，实现定点加工。在此方法下，设计并测试了三自由度移载机器人控制系统，模拟加工生产线上给移载托盘放置工件，托盘按照指令成功移动到指定加工位置，加工后，再回到起始点，重复执行操作。经过综合调试，控制系统成功运行。

关键词：三自由度；移载机器人；PLC；伺服电机

Design and implementation of the control system for the three-degree-

of -freedom -load-shifting robot

Abstract

Three degrees of freedom transfer robot has three root on the space perpendicular line moving axis, through three axis establish transfer tray space position, determine the position of the X axis X axis moved back and forth, determine the position of the Y axis Y moved back and forth, Z axis move up and down to determine the position of the Z axis, the main purpose of the transfer robot is to change the space position

of the object, and cooperate with other equipment in processing, reversing, installation etc.The three degrees load shifting robot has simple structure, repeatable programming and stable performance. Its trajectory is

easy to be solved, but its range of motion is small and its function is simple.Compared with the advanced technology in foreign countries, the development and application of China's industrial robot technology is lagging behind.The development of industrial robots affects the improvement of the level of automation in China.

This design mainly studies the design and implementation of the control system of the three degree of-freedom load-shifting robot. PLC is adopted as the core controller. The PLC outputs pulse to control the rotation of the servo motor, and the limit switch feeds the position signal back to PLC .In this method, the control system of the 3-dof load-shifting robot was designed and tested. The work piece was placed on the load-shifting pallet in the simulation production line. The pallet was successfully moved to the designated processing location according to the instructions.After comprehensive debugging, the control system runs successfully.

Keywords:three degrees ;Load shifting robot;PLC;Servo motor

目 录

摘 要................................................................................................................................................................ I

Abstract ......................................................................................................................................................... II

第一章 绪 论 ......................................................................................................................................... 1

1.1 选题背景.............................................................................................................................................. 1

1.1.1 开发背景 .................................................................................................................................. 1

1.1.2 国内现状 .................................................................................................................................. 1

1.1.3 国外现状 .................................................................................................................................. 1

1.2选题意义 .......................................................................................................................................... 2

1.3课题研究内容 .................................................................................................................................. 2

第二章 系统的总体方案设计 .................................................................................................................. 3

2.1 设计思路............................................................................................................................................... 3

2.2 设计要求和任务................................................................................................................................... 4

第三章 系统的硬件设计................................................................................................................................ 5

3.1 移载机器人的结构特点 .................................................................................................................. 5

3.2 移载机器人的应用 .......................................................................................................................... 5

3.3 移载机器人的分类 .......................................................................................................................... 5

3.4 三自由度移载机器人的硬件设计....................................................................................................... 5

3.4.1 机械结构的设计............................................................................................................................ 5

3.4.2 传动机构的设计.............................................................................................................................. 6

3.4.3 驱动方式的选择.............................................................................................................................. 7

3.4.4 内部传感器的选择.......................................................................................................................... 7

3.5 PLC的介绍............................................................................................................................................ 7

3.5.1 PLC概况...................................................................................................................................... 8

3.5.2 PLC的结构及基本配置.............................................................................................................. 9

3.5.3 PLC的选型................................................................................................................................. 11

第四章 系统软件的设计................................................................................................................................ 11

4.1 PLC编程语言及软件介绍................................................................................................................ 11

4.2 伺服驱动器的运行准备 .........................................................................................................................11

4.2.1 伺服驱动器名称的含义....................................................................................................................11

4.2.2 伺服驱动器连接端口的定义............................................................................................................12

4.2.3 马达、驱动器及电源的接线图........................................................................................................12

4.2.4 位置控制CN1接脚定义..................................................................................................................13

4.2.5 驱动器面板参数设计........................................................................................................................13

4.3 软件设计过程...........................................................................................................................................13

4.3.1 熟悉工艺流程.................................................................................................................................14

4.3.2 系统电气图......................................................................................................................................15

4.3.3 系统总体流程图..............................................................................................................................16

4.3.4 程序的编写......................................................................................................................................18

4.3.5 程序的测试与调试..........................................................................................................................18

第五章 调试.................................................................................................................................................. 19

5.1 驱动器参数的调试.................................................................................................................................19

5.2 系统硬件的调试......................................................................................................................................19

5.2.1 限位开关的调试................................................................................................................................20

5.2.2 托盘开合的调试................................................................................................................................21

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