山东大学本科机械电子工程-

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山东大学 （成人教育） 毕 业 设 计（论文）

题 目 基于PLC的机械手模型控制系统的设计 副标题

性 质： 毕业设计 毕业论文

学生姓名 吕泓江 年 级 2015级 函 授 站 烟台工程职业技术学院 专 业 机械电子工程 指导教师 孙松舜

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基于PLC的机械手模型控制系统的设计

摘 要

在工业生产和其他领域内，由于工作的需要，人们经常受到高温、腐蚀及有毒气体等因素的危害，增加了工人的劳动强度，甚至于危及生命。自从机械手问世以来，相应的各种难题迎刃而解。

在本设计中介绍了国内外机械手研究现状及PLC的研究发展趋势，描述了机械手控制系统的工作原理和动作实现过程。研究了基于PLC的机械手模型控制系统的设计，还研究了MCGS在机械手控制系统中的应用。利用组态软件MCGS设计了机械手模型控制系统监控界面，提供了较为直观、清晰、准确的机械手运行状态，进而为维修和故障诊断提供了多方面的可能性，充分提高了系统的工作效率。

关键词：

机械手；PLC；MCGS

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Design of Manipulator Model Control System based on PLC

Abstract

In industrial production and other domains, Because of the demands of the work, people were usually subjected to endanger of heat, decay and poisonous air etc. factor, these factors increased the strength of worker's labor, even endanger life. Since the manipulator was born, the various difficult problems were easily solved.

In this design the present condition of research about domestic and international manipulator and development trend of research concerning PLC were introduced. The principle of work and the process of action’s realization of manipulator control system were described. The design of manipulator model control system based on PLC was researched and MCGS’s application in the manipulator model control system was researched. The interface of supervision for the manipulator model control system was designed by MCGS. An intuitive, clear and accurate manipulator operating state was provided. And then various possibilities for maintain and breakdown’s diagnosis were provided, the work’s efficiency of system was fully elevated. Key words: manipulator; PLC; MCGS

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目 录

摘 要 ........................................................................................................................................ Ⅰ Abstract ......................................................................................................................................... Ⅱ 第一章 绪 论 .............................................................................................................................. 1

1.1 课题研究目的及意义 ................................................................................................................. 1 1.2 国内外机械手研究概况 ............................................................................................................ 1 1.3 课题研究的内容 ............................................................................................................................ 2 第二章 机械手控制方式的选择和可编程序控制器简介 ............................................... 3

2.1 机械手控制方式的选择 ............................................................................................. 3

2.1.1 控制方式的分类 ............................................................................................... 3 2.1.2 PLC与工业控制计算机（IPC）和集散控制系统（DCS）的比较 ... 3 2.1.3 机械手控制方式的选定 .................................................................................. 4 2.2 可编程序控制器简介 ................................................................................................. 5

2.2.1 PLC的结构……………………………………………………………………..…5 2.2.2 PLC的特点 ......................................................................................................... 6 2.2.3 PLC的主要功能 ................................................................................................ 7 2.2.4 PLC的经济分析 ................................................................................................ 7 2.2.5 PLC发展状况及趋势 ....................................................................................... 8

第三章 机械手模型控制系统的设计 ................................................................................... 9

3.1 机械手控制系统构件概述 ........................................................................................ 9

3.1.1 步进电机 ............................................................................................................. 9 3.1.2 步进电机驱动器 ............................................................................................... 9 3.1.3 传感器 ............................................................................................................... 11 3.1.4 直流电机驱动单元 ......................................................................................... 12 3.2 机械手的动作实现过程 ........................................................................................... 12 3.3 PLC程序设计 .............................................................................................................. 14

3.3.1 I/O点数的确定及PLC类型的选择 ......................................................... 14 3.3.2 PLC的I/O分配 .............................................................................................. 14 3.3.3 编程指令的选择 ............................................................................................. 14 3.3.4 PLC程序的设计 .............................................................................................. 15 3.4 PLC程序的调试 ......................................................................................................... 15

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3.4.1 PLC控制的安装与布线 ................................................................................. 15 3.4.2 机械手控制系统的外部接线图 .................................................................. 16 3.4.3 机械手控制程序的调试 ................................................................................ 16

第四章 MCGS在机械手控制系统中的应用 .................................................................... 17

4.1 MCGS的概述 .............................................................................................................. 17

4.1.1 MCGS的简介 ................................................................................................... 17 4.1.2 MCGS的构成 ................................................................................................... 17 4.1.3 MCGS的主要特性和功能 ............................................................................ 18 4.1.4 MCGS的编程语言 .......................................................................................... 18 4.1.5 MCGS的数据结构 .......................................................................................... 19 4.1.6 MCGS的作用 ................................................................................................... 19 4.2 工程的建立与变量的定义 ...................................................................................... 20

4.2.1 工程的建立 ...................................................................................................... 20 4.2.2 变量的分配 ...................................................................................................... 20 4.2.3 变量定义的步骤 ............................................................................................. 21 4.2.4 设备与变量连接 ............................................................................................. 23 4.3 工程画面的创建 ........................................................................................................ 24

4.3.1 封面窗口及监控画面的制作....................................................................... 25 4.3.2 运行策略的建立及脚本程序的编写 ......................................................... 27 4.4 动画的连接 ................................................................................................................. 31

4.4.1 指示灯的动画连接 ......................................................................................... 31 4.4.2 机械手的动画连接 ......................................................................................... 32 4.5 组态运行 ...................................................................................................................... 35 第五章 结 论 … ...................................................................................................................... 36 参考文献 ..................................................................................................................................... 37 致 ............................................................................................................................................... 38 附 录 .......................................................................................................................................... 39

附录1 程序流程图 .......................................................................................................... 39 附录2 顺序功能图 .......................................................................................................... 42 附录3 梯形图 ................................................................................................................... 43 附录4 指令表 ................................................................................................................... 45 附录5 PLC外部电气接线图…………………………………………………………...48

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