关节旋转式机械手控制系统与mcgs仿真.docVIP

摘 要 在工业生产和其他领域内，由于工作的需要，人们经常受到高温、腐蚀及有毒气体等因素的危害，增加了工人的劳动强度，甚至于危及生命。自从机械手问世以来，相应的各种难题迎刃而解。 在本设计中介绍了国内外机械手研究现状及PLC研究he发展趋势，描述了机械手控制系统的工作原理和动作实现过程。研究了基于PLC的机械手模型控制系统的设计，还研究了MCGS在机械手控制系统中的应用。利用组态软件MCGS设计了机械手模型控制系统监控界面，提供了较为直观、清晰、准确的机械手运行状态，进而为维修和故障诊断提供了多方面的可能性，充分提高了系统的工作效率。 关键词：机械手；PLC；MCGS Abstract In industrial manufacturing and other fields, due to the demand of work, many workers are compelled to expose in harmful circumstance like high temperature, corrosion, toxic gases harm and so on, that increased labor intensity, even imperial their lives. However, since the manipulator came out, many knotty problems are smoothly solved. In the following essay, situations of manipulator research at home and abroad are introduced, also including the research and development trend of PLC control system. Meanwhile, it describes the working principle of manipulator control system and action process. What is more, control system of manipulator model basing on PLC is designed, and also studies the MCGS’s application in manipulator control system. And I design manipulator model control system monitoring by MCGS, which provides intuitive, clear and accurate interface on the running state for manipulators. Therefore, it opens up possibility for fault diagnosis and services, which makes further improvements on the efficiency of the system eventually. Keywords: Manipulator; PLC; MCGS 目 录 1 绪 论 1 1.1 课题研究的目的及意义 1 1.2 国内外机械手研究概况 1 2 机械手控制方式的选择和可编程序控制器简介 3 2.1 机械手控制方式的选择 3 2.1.1 控制方式的分类 3 2.1.2 PLC与工业控制计算机和集散控制系统的比较 3 2.1.3 机械手控制方式的选择 4 2.2 可编程序控制器简介 5 2.2.1 PLC的结构 5 2.2.2 PLC的特点 6 2.2.3 PLC的主要功能 8 2.2.4 PLC的经济分析 8 2.2.5 PLC发展状况及趋势 9 3 机械手自动控制系统的设计 11 3.1 PLC控制系统设计原则与内容 11 3.2 PLC的选型 11 3.2.1 PLC性能与任务相适应 11 3.2.2 PLC处理速度要求 12 3.2.3 PLC应用系统结构的要求 12 3.3 传感器 12 3.3.1 行程开关 12 3.3.2 压力传感器 13 3.4 分检系统结构 14 3.5 分检系统工作原理 15 3.6 PLC程序设计 15 3.6.1 PLC的I/O分配 15 3.6.2 PLC编程指令的选择 16 3.6.3 PLC程序的设计 16 3.6.4 PLC硬件接线图 16 4 MCGS在机