毕业设计（论文）-PLC在机械手控制系统中的应用.doc

PLC在机械手控制系统中的应用 摘 要 机械手是在机械化、自动化生产过程中发展起来的一种新型装置。它是集自动控制技术、计量技术、新型传感器技术、计算机管理技术于一体的自动控制产品。机械手可在空间抓、放、搬运物体，动作灵活多样，广泛应用在工业生产及其它领域。应用PLC控制机械手能实现各种规定的工序动作，不仅可以提高产品的质量与产量，而且对保障人身安全，改善劳动环境，减轻劳动强度，提高劳动生产率，节约原材料消耗以及降低生产成本，有着十分重要的意义。 本文首先对机械手控制的研究现状进行了分析，详细列举了常用的机械手控制方式。其次，利用PLC控制实现了工业现场中常见的机械手控制。对控制回路硬件和软件的设计使该系统能实现机械手在两个工作台之间工件的搬运，包括左移、右移、上升、下降、夹紧和放松六个动作过程，并且可实现手动操作和自动操作的转换。最后，利用iFIX组态软件对系统进行组态，实现了对该系统的远程实时监控，使得系统得到最合理的控制。 关键字 PLC 机械手 控制 iFIX THE APPLICATION OF PLC IN ROBOTIC MANIPULATORS CONTROL SYSTEM ABSTRACT The manipulator is a new device developed in the mechanized, automatic production process. It is one automation control product which integrates automatic control technology, measurement technology, new sensor technology and computer technology. The manipulator can catch, put and handle goods in the space. Because of its flexibility, the manipulator is widely used in industrial producing and other fields. Manipulator with PLC control can complete various specified procedural actions. Not only can it enhance the quality and output of products, but also it is meaningful to ensure the personal security, improve the working environment, lower the labor intensity, raise the labor productivity, save the raw materials consumption and reduce the production cost. First, this article analyses the situation of the research and displays the control mode about the manipulator control. Second, the common robot control is realized in the industrial field by using the PLC control. Thanks to the design of the control loop about hardware and software, the system can complete the task that workpiece is moved between the two tables by controlling the corresponding cylinder, including the six action process of the manipulator left and right, up and down and the manipulator clamping and relax. And it also achieves the manual and automatic operation. Last, this article also chooses iFIX configuration software to configure for the system. And it implements the remote and online obs