[毕业设计]PLC工业机械手控制系统设计

本科生毕业设计（论文）

摘 要

为工业机械手研制一个技术性能优良的控制系统，对于提高工业机械手的整体技术性能来说具有十分重要的意义。本论文正是针对这一课题，选择了可编程控制器(PLC)作为工业机械手的控制系统，这对提升工业机械手的整体技术性能起到了良好的作用。

本论文的控制对象是由三个搬运机械手组成的机械手群，每个机械手完成8个基本动作，三个机械手互相配合动作。机械手由气缸驱动，气缸受电磁阀控制。限位开关检测机械手是否到达固定位置。

可编程控制器(PLC)控制每个机械手的动作，实现机械手群的自动运行。本论文可编程控制器(PLC)选用西门子（SIEMENS）公司S7-200系列的CPU224，并扩展了EM221模块和EM222模块。机械手的开关量信号直接输入PLC，PLC通过中间继电器对电磁阀加以控制。

本论文的重点放在PLC各硬件部分的设计和介绍、PLC梯形图的编写上。在整体设计过程中按照“提出问题，分析问题，解决问题”的主导思想，对整个系统的设计工作做出了细致的阐述。

关键词：可编程控制器(PLC)；气动机械手；梯形图

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本科生毕业设计（论文）

Abstract

Develops a technical performance fine control system for the industrymanipulator, regarding enhances the industry manipulator's overalltechnical performance to say has the extremely vital significance. Thepresent paper is precisely in view of this topic, chose theprogrammable logical controller (PLC) to take the industry manipulator'scontrol system, this to promoted the industry manipulator's overalltechnical performance to play the good role.

The present paper controlled member is by three the manipulator group which transports the manipulator to be composed, each manipulator completes 8 elementary actions, three manipulators coordinate the movement mutually.The manipulator actuates by the air cylinder, air cylinder solenoid valve control.The limit switch examines the manipulator whether arrives the stationary position.

The programmable logical controller (PLC) controls each manipulator'smovement, realizes the manipulator group automatic movement. Thepresent paper programmable controller (PLC) selects SIEMENS company S7-200 series CPU224, and expanded the EM221 module and the EM222 module. Manipulator's switch quantity signal direct input PLC,PLC performs through the intermediate relay to the solenoid valve tocontrol.

The present paper puts with emphasis on the PLC various hardwarepartial designs and the introduction, in the PLC trapezoidal chartcompilation. Defers to in the overall design process \thequestion, the analysis question, solves the problem\the guidingideology, has made the careful elaboration to the overall systemdesign work.

Key words：Programmable Logical Controller (PLC); Air operated manipulator;Trapezoidal chart

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本科生毕业设计（论文）

目 录

第1章 绪 论 .......................................................................................................... 1

1.1 机械手的概念 ........................................................................................... 1 1.2 气动机械手的简介 ................................................................................... 1

1.2.1 气动技术 ........................................................................................ 1 1.2.2 气动机械手 .................................................................................... 2 1.2.3 气动机械手的发展趋势 ................................................................ 3

第2章 方案论证 .................................................................................................... 4

2.1 机械手的设计 ........................................................................................... 4

2.1.1 气动搬运机械手的结构 ................................................................ 4 2.1.2 气动搬运机械手的工作原理 ........................................................ 4 2.2 气动搬运机械手群 ................................................................................... 5

2.2.1 气动搬运机械手群结构 ................................................................ 5 2.2.2 气动搬运机械手群工作原理 ........................................................ 6 2.3 本论文的主要内容及达到的目标 ........................................................... 6 2.4 本系统的控制方案 ................................................................................... 6 第3章 系统硬件电路的设计 ................................................................................ 8

3.1 PLC的简介 ................................................................................................ 8

3.1.1 可编程控制器的概念 .................................................................... 8 3.1.2 PLC的应用领域 ............................................................................. 8 3.1.3 PLC的系统组成 ............................................................................. 9 3.1.4 PLC的工作原理 ........................................................................... 11 3.2 输入/输出信号 ........................................................................................ 13 3.3 PLC的选型 .............................................................................................. 15

3.3.1 PLC的选型 ................................................................................... 15 3.3.2 PLC及扩展模块的技术指标 ....................................................... 16 3.4 I/O地址分配 ............................................................................................ 18 3.5 PLC外部接线 .......................................................................................... 20 第4章 软件设计 .................................................................................................. 22

4.1 机械手1控制程序 ................................................................................. 22 4.2 机械手2控制程序 ................................................................................. 24

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本科生毕业设计（论文）

4.3 机械手3控制程序 ................................................................................. 26 4.4 机械手群主程序 ..................................................................................... 29 第5章 结论 .......................................................................................................... 32 参考文献 ................................................................................................................ 33 致 谢 ...................................................................................................................... 35 附 录Ι .................................................................................................................... 36

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