PLC小型三自由度搬运机械手控制系统设计+梯形图

摘要随着科学技术的发展，电气控制技术在很多方面得到了广泛的应用，可编程控制器（PLC）的应用极大的促进了电气控制技术的发展。如今搬运机械手广泛的用于机械加工自动线物流系统，是自动线中的重要装备之一。本文是在这种发展基础下选用三自由度小型搬运机械手作为控制对象进行研究。84533

机械手是一种可用来在固定位置之间移动，替代人工作业的设备，在污染严重的、易燃易爆等恶劣环境中得到了相当广泛的应用，它能够在不同的情况下根据控制者的编程实现各种搬运功能和方式，广泛用于机械制造、冶金、电子和轻工等部门。拥有良好的发展前景。

本文主要介绍了三自由度机械手的设计过程和方法，在考虑学校主要研究西门子（SIEMENS）公司可编程控制器的情况下选择了 S7-200 系列作为主要的控制设备，运用 MCGS 组态软件对组态界面进行设计，模拟的搬运机械手能够实现手动、自动之间的切换，并进行上下左右的移动。本文还设计了 PLC 的控制原理图，进行了 I/O 地址的分配，编写了控制程序，实现了控制要求。

毕业论文关键词：机械手；PLC；控制程序；自由度

Abstract With the development of science and technology, Electrical control technology has been widely used in various fields。 The application of PLC makes the electrical control technology has changed radically。 Today carrying manipulator is widely used in mechanical processing automatic line logistics system, which is one of the important equipment in the automatic line。 This article is based on the development of the selection of three degrees of freedom of the manipulator as a control object to study。

Manipulator is a kind of equipment that can be used to move between fixed position and replace manual operation。 It has been widely used in toxic, flammable and explosive environment。 It can be in different situations according to the control of the program to achieve a variety of handling functions and methods, widely used in machinery manufacturing, metallurgy, electronics and light industry and other departments。 Which have good prospects for development。

This paper mainly introduces the design process and method of three degree of freedom manipulator。 S7-200 series as the main control device is selected in the case of considering the school's main research SIEMENS company's programmable logic controller。 The configuration interface is designed by using MCGS configuration software。 Simulation of the handling robot hand can be achieved between the manual, automatic switching, and moving up and down about。 In this paper, the control principle of PLC is designed and the distribution of I/O address is carried out,and the control program is programmed to realize the control requirement。

Kwords：Manipulator ; PLC ; control program ; freedom

第一章绪论 1

1。1 论文研究的目的和意义 1

1。2 机械手的发展历程及现状 2

1。2。1 国外机械手发展 2

1。2。2 国内机械手发展 3

1。3 本文主要研究内容 4

1。3。1 研究内容 4

1。3。2 论文内容的结构 5

第二章机械手的控制系统方案设计及分析 6

2。1 机械手控制系统的结构和分类 6 PLC小型三自由度搬运机械手控制系统设计+梯形图:http://www.youerw.com/zidonghua/lunwen_100383.html