机械手控制系统设计(57页).doc

机械手控制系统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。本次设计根据课题的控制要求,确定了搬运机械手的控制方案,设计控制系统的电气原理图，对控制系统进行硬件和软件选型,完成 PLC（可编程控制器）用户程序的设计。设计中使用了德国西门子公司生产的 S7-200 系列的 CPU 226。该系列PLC 具有功能强大，编程方便，故障率低，性价比高等多种优点。机械手的开关量信号直接输入 PLC，使用 CPU 226 来完成全部的控制功能，包括：手动/自动控制切换，循环次数设定，状态指示，手动完全操控等功能。机械手完成下降、伸出、加紧工件、上升、右旋、再下降、放松工件、缩回、放松、左旋十个动作。通过模拟调试，有序的控制物料从生产流水线上安全搬离，提高搬运工作的准确性、安全性，实现一套完整的柔性生产线，使制造过程变的更有效率。通过本次毕业设计，对 PLC 控制系统的设计建立基本的思想：能提出自己的应用心得；可巩固、深化前续所学的大部分基础理论和专业知识，进一步培养和训练分析问题和解决问题的能力，进一步提高自己的设计、绘图、查阅手册、应用软件以及实际操作的能力，从而最终得到相关岗位和岗位群中关键能力和基本能力的训练。关键词：机械手；PLC（可编程控制器）；CPU；梯形图The Design of Manipulator Control SystemABSTRACTIn industrial manufacturing and other fields,due to the demand of work,manyworkers are compelled to expose in harmful circumstance like high temperature,corrosion,toxic gases harm and so on,that increased labor intensity,even imperial theirlives.However,since the manipulator came out,many knotty problems are smoothlysolved.The design requirements under the control of the subject to determine the handlingrobot control program,designed control system electrical schematic diagram,the controlsystem hardware and software selection,complete the design of the user program in thePLC(programmable controller).Design used in the German company Siemens S7-200series CPU 226.The series PLC with powerful,easy programming and low failure rate,and cost advantages.Robot switch signal input to the PLC,the CPU 226 to complete allthe control functions,including:manual/automatic control switch,set the number ofcycles,status indicator,manual complete control and other functions.the production lineon the safe move out,so that the manufacturing process becomes more efficient.The graduation project,the design of PLC control system to establish the basic idea:to make their own application experience;can strengthen and deepen the most of theformer continued the basic theory and professional knowledge,further training andtraining to analyze and solve proble