某搬运工件机械手控制系统设计.docVIP

某搬运工件机械手控制系统设计 作者姓名：xxx 专业名称：机械工程及自动化 指导教师：xxxx 副教授 摘 要 搬运机械手是企业自动化生产线中重要设备之一，其性能的优劣直接影响到产品的产量和质量。因此，设计性能优良的搬运机械手控制系统对于提高产品产量和质量具有十分重要的意义。 论文针对完成曲轴在两条生产线之间搬运任务的搬运机械手控制系统进行设计。采用了电液一体化的设计方案，液压缸实现了机械手对工件的抓放，通过伺服电机来实现机械手在水平、竖直方向快速精确的移动。采用SIEMENS公司的SIMATIC S7-200系列PLC作为核心控制器，外扩定位模块EM253模块对伺服电机进行精确的定位控制，从硬件和软件两个方面进行设计，完成了PLC在搬运机械手中硬件连接，I/O点分配和应用程序的设计，实现了机械手的上电初始化、零点复位、故障报警、手动运行、半自动运行和在无人看守时的自动运行。最终达到设计要求，完成搬运目的。 关键词： 搬运机械手 PLC 定位模块EM253 控制系统 Abstract Carrying manipulator is one of the important equipment in the enterprise automatic production line,whose performance quality directly affect product quality and production. Therefore, the design of excellent properties carrying manipulator control system to improve product quality and production is very important . This paper aimed at designing the carrying manipulator handling mission control system which achieved the crankshaft between two production lines. Adopting electrical integration design, we use a locking function of the cylinder to realize the manipulator grasp of the workpiece in put and guarantee the expired condition, through state of manipulator keep servo motor move quickly and accurately in level and the vertical direction. Adopt SIEMENS company SIMATIC S7-200 PLC as the core controller, the outside enlarge EM253 performs accurate positioning control in module module of servo motor, designing from two aspects of hardware and software, completed in handling mechanical hand PLC hardware connection, I/O point distribution and application of the design, realizing the manipulator on electricity initialization, zero reset, fault alarm, manual operation, semi-automatic operation and the automatic operation when no keeping watch. Finally achived the design requirements and completed handling purpose. KEY WORDS： carrying manipulator，PLC Position Module EM253， control system 目录 摘 要 I Abstract II 目录 III 前言 1 1系统主要部件选择 5 1.1 液压缸的选择 5 1.2 阀门的选择 7 1.3 行程开关的选择 8 1.4 接近开关的选择 8 1.5 驱动电机的选择 9 2 控制系统的硬件设计 10 2.1