摘要在当今科技迅猛的发展下，机械臂技术也越来越成熟，以各种控制器控制的不同类型的机械臂以其突出的性能越来越多的被人们所应用。例如工商业的生产制造、仓库货物的储存搬运的，都是运用机械臂来进行的。73710

PLC作为最近几十年的被广泛应用控制设备，在工业自动化生产中起着非常重要的作用，采用PLC对生产设备进行自动控制，可以大大的减少人工成本和所需工作量。

通过上位机与PLC的联动控制机械臂的自动装配搬运过程，本设计包含组态系统的构建、系统设备的选型、硬件设计和软件设计。利用上位机构建的MCGS能够清晰、准确的监控整个包含PLC和生产设备的在内的系统的运行状态，实时反应故障内容并进行报警。通过PLC构成的下位机控制系统，可以随时修改控制程序来改变控制效果，使得整个系统能够满足当代自动化生产时多变的需求。

毕业论文关键词： PLC  MCGS  机械臂  上位机

Manipulator assembly and transport system design

ABSTRACT

In today's rapid development of science and technology, mechanical arm technology more and more mature, a variety of different types of arm controller with its outstanding performance to be applied more and more people。 Such as industrial and commercial manufacturing, storage warehouse handling of goods are carried out using the robotic arm。 Computer technology advances led to the configuration software has also been constantly breakthrough, automated control。

PLC as the most recent decades has been widely used to control the device, plays a very important role in industrial automation, using PLC automatic control of the production equipment, can greatly reduce labor costs and effort required。

Through the PC and automatic process control linkage assembly handling manipulator PLC, the design contains the configuration of the system construction, equipment selection system, hardware and software design。 The use of the upper body can be built MCGS clear and accurate monitoring of the entire PLC and included production equipment operation of the system status, real-time response and fault alarm content。 By the next crew PLC control system configuration, you can always modify the control program to change the control effect, so that the entire system can meet the contemporary automated production when changing needs。

Key words: PLC  MCGS  Manipulator  PC

目  录

摘要 I

ABSTRACT II

目录 III

第一章 绪 论 1

1。1课题背景与目的 1

1。2 国内外研究概况 1

1。3 课题研究的内容 2

第二章 机械臂 3

2。1 机械臂概述 3

2。2 机械臂的工作原理 3

2。3 电磁阀的工作原理 4

2。4 机械臂的发展趋势 5

第三章可编程逻辑控制器PLC 6

3。1 PLC简介 6

3。2 PLC内部原理 7

3。3 PLC的工作原理 8

3。4 PLC的扫描过程 9

3。5 PLC基本指令系统与指令 9

3。6 PLC对机械臂的控制