PLC工業(yè)機(jī)械手控制系統(tǒng)設(shè)計(jì).doc

本科生畢業(yè)設(shè)計(jì)（論文）I摘要為工業(yè)機(jī)械手研制一個(gè)技術(shù)性能優(yōu)良的控制系統(tǒng)，對(duì)于提高工業(yè)機(jī)械手的整體技術(shù)性能來說具有十分重要的意義。本論文正是針對(duì)這一課題，選擇了可編程控制器(PLC)作為工業(yè)機(jī)械手的控制系統(tǒng)，這對(duì)提升工業(yè)機(jī)械手的整體技術(shù)性能起到了良好的作用。本論文的控制對(duì)象是由三個(gè)搬運(yùn)機(jī)械手組成的機(jī)械手群，每個(gè)機(jī)械手完成8個(gè)基本動(dòng)作，三個(gè)機(jī)械手互相配合動(dòng)作。機(jī)械手由氣缸驅(qū)動(dòng)，氣缸受電磁閥控制。限位開關(guān)檢測(cè)機(jī)械手是否到達(dá)固定位置?？删幊炭刂破?PLC)控制每個(gè)機(jī)械手的動(dòng)作，實(shí)現(xiàn)機(jī)械手群的自動(dòng)運(yùn)行。本論文可編程控制器(PLC)選用西門子（SIEMENS）公司S7-200系列的CPU224，并擴(kuò)展了EM221模塊和EM222模塊。機(jī)械手的開關(guān)量信號(hào)直接輸入PLC，PLC通過中間繼電器對(duì)電磁閥加以控制。本論文的重點(diǎn)放在PLC各硬件部分的設(shè)計(jì)和介紹、PLC梯形圖的編寫上。在整體設(shè)計(jì)過程中按照“提出問題，分析問題，解決問題”的主導(dǎo)思想，對(duì)整個(gè)系統(tǒng)的設(shè)計(jì)工作做出了細(xì)致的闡述。關(guān)鍵詞：可編程控制器(PLC)；氣動(dòng)機(jī)械手；梯形圖本科生畢業(yè)設(shè)計(jì)（論文）IIAbstractDevelopsatechnicalperformancefinecontrolsystemfortheindustrymanipulator,regardingenhancestheindustrymanipulatorsoveralltechnicalperformancetosayhastheextremelyvitalsignificance.Thepresentpaperispreciselyinviewofthistopic,chosetheprogrammablelogicalcontroller(PLC)totaketheindustrymanipulatorscontrolsystem,thistopromotedtheindustrymanipulatorsoveralltechnicalperformancetoplaythegoodrole.Thepresentpapercontrolledmemberisbythreethemanipulatorgroupwhichtransportsthemanipulatortobecomposed,eachmanipulatorcompletes8elementaryactions,threemanipulatorscoordinatethemovementmutually.Themanipulatoractuatesbytheaircylinder,aircylindersolenoidvalvecontrol.Thelimitswitchexaminesthemanipulatorwhetherarrivesthestationaryposition.Theprogrammablelogicalcontroller(PLC)controlseachmanipulatorsmovement,realizesthemanipulatorgroupautomaticmovement.Thepresentpaperprogrammablecontroller(PLC)selectsSIEMENScompanyS7-200seriesCPU224,andexpandedtheEM221moduleandtheEM222module.ManipulatorsswitchquantitysignaldirectinputPLC,PLCperformsthroughtheintermediaterelaytothesolenoidvalvetocontrol.ThepresentpaperputswithemphasisonthePLCvarioushardwarepartialdesignsandtheintroduction,inthePLCtrapezoidalchartcompilation.Deferstointheoveralldesignprocessasksthequestion,theanalysisquestion,solvestheproblemtheguidingideology,hasmadethecarefulelaborationtotheoverallsystemdesignwork.Keywords：ProgrammableLogicalController(PLC)；Airoperatedmanipulator；Trapezoidalchart本科生畢業(yè)設(shè)計(jì)（論文）III目錄第1章緒論.11.1機(jī)械手的概念.11.2氣動(dòng)機(jī)械手的簡(jiǎn)介.11.2.1氣動(dòng)技術(shù).11.2.2氣動(dòng)機(jī)械手.21.2.3氣動(dòng)機(jī)械手的發(fā)展趨勢(shì).3第2章方案論證.42.1機(jī)械手的設(shè)計(jì).42.1.1氣動(dòng)搬運(yùn)機(jī)械手的結(jié)構(gòu).42.1.2氣動(dòng)搬運(yùn)機(jī)械手的工作原理.42.2氣動(dòng)搬運(yùn)機(jī)械手群.52.2.1氣動(dòng)搬運(yùn)機(jī)械手群結(jié)構(gòu).52.2.2氣動(dòng)搬運(yùn)機(jī)械手群工作原理.62.3本論文的主要內(nèi)容及達(dá)到的目標(biāo).62.4本系統(tǒng)的控制方案.6第3章系統(tǒng)硬件電路的設(shè)計(jì).83.1PLC的簡(jiǎn)介.83.1.1可編程控制器的概念.83.1.2PLC的應(yīng)用領(lǐng)域.83.1.3PLC的系統(tǒng)組成.93.1.4PLC的工作原理.113.2輸入/輸出信號(hào).133.3PLC的選型.153.3.1PLC的選型.153.3.2PLC及擴(kuò)展模塊的技術(shù)指標(biāo).163.4I/O地址