PLC控制机械手自动分检大小球系统.doc

摘 要 机械手是最早出现的工业机器人，也是最早出现的现代机器人，它可代替人的繁重劳动以实现生产的机械化和自动化，系统具有自动化程度高、运行稳定、精度高、易控制的特点,可根据不同对象,稍加修改本系统即可实现要求 关键词： Abstract Enter after twenty-first Century, along with human knowledge of science and technology has reached a new height, more and more knowledge into practical productivity, a large number of new technology, new equipment applied in various fields of production. In order to save the production data and labour cost, industrial robots and automatic control system to begin a large number of equipment in the factory production line. The manipulator is the earliest industrial robot, is the earliest modern robot, it can replace people arduous labor to realize the production mechanization and automation, its positive role is increasingly recognized, it can partially replace human labor and can meet the production process requirements, follow certain program, time and location to complete workpiece transfer. Many developed countries are on it seriously, and put a lot of manpower and material resources to study and apply. In our country, the independent research and development of industrial robot in recent years have rapid development, and achieved certain results. In the production process, often on assembly line products of sorting, in order to improve production efficiency, this design aims to develop a manipulator, by German Siemens S7-200series PLC, the mechanical hand on, around and grabbing motion control, to design the size of the ball for sorting machine. We use the programmable technology, combined with the corresponding hardware device, control manipulator to complete a variety of actions, the target is to make this system has a high degree of automation, stable operation, high precision, easy to control, according to different object, minor modifications to the system can reach the requirements. Key words: PLC size of spherical manipulator目 录 要 I Abstract II 1 绪论 1 1.1 课题的背景意义 1 1.2 课题的目的及要求 4 1.3 课题目前的发展状况 4 1.4 设计内容及要求 5 2 可编程控制器概述 6 2.1