基于PLC的机械手动作监控系统设计..doc

基于PLC的机械手动作监控系统设计 摘 要 工业生产随着科学技术的发展而发展，工业生产上机电一体化的应用越来越多，机械设备中的自动控制成分越来越重要。由于有些工人在工作的时候经常受到高温、低温或有害气体的危害，甚至危及生命。这些工作不得不用机器代替，因此机械手就诞生了。机械手是机器人的关键部件，在自动化车间中可以运送物料和工艺的操作。机械手通过可编程控制器的编程，按照控制要求完成各种规定的动作,可以提高加工精度、提高生产效率、降低成本。本文根据PLC的工业控制和计算机监控的相关理论，按照工业机械手动作的控制要求，完成了其运动控制的设计以及组态监控系统的设计，对控制系统的各个流程即总体结构、控制流程以及构成系统模块进行了研究。本次设计采用的可编程控制器为：S7-200系列。 关键词：机械手，PLC，监控 Design of manipulator?motion?control system based on PLC ABSTRACT Industrial production develops with the development of science and technology. As a result, the application of mechanotronics can be found more and more easily in industrial production. Besides, the automatic control components also become increasingly important. It is a fact that some workers are always suffered from the high temperatures, low temperatures and even some harmful gases. These factors may even do great harm to their lives. This kind of work must be done by machines so that the machine hand is produced. The machine hand is the key component of the robot. It can deliver the material and operate the machine during the industrial production. The machine hand is controlled by programmable controller and does the actions according the orders which it has accepted. It can improve the accuracy, increase the productivity and reduce the costs.Based on the theory of industrial control and computer monitoring of the PLC and the control requirements of industrial robot movement, the design and configuration of the monitoring system design of its motion control, process control systems for the individual are completed. The overall structure of the control process and constitute system modules were studied at the same time. The programmable controller which the design uses is: S7-200. KEY WORDS: Manipulator, PLC, Monitor 目　录 前　言 1 第1章 绪论 3 1.1 机械手的概述 3 1.2 国内外机械手的发展 3 1.2.1机械手发展 3 1.2.2机械手的分类 4 1.3 可编程控制器（PLC） 6 1.3.1可编程逻辑控制器介绍 6 1.3.2可编程逻辑控制器的发展过程 6 1.3.3 PLC硬件系统组成 6 1.3.4 PLC工作原理 7 1.4 课题研究的意义 7 第2章 系统的硬件设计 9 2.1控制要求 9 2.2主电路设计 9