机械手控制系统设计 大学论文.doc

摘 要 工业机械手是近代自动控制领域中出现的一项新的技术，是现代控制理论与工业生产自动化实践相结合的产物，并以成为现代机械知道生产系统中的一个重要部分。工业机械手是提高生产过程自动化、改善劳动条件、提高产品质量和生产效率的有效手段之一。尤其在高温、高压、粉尘、噪声以及带有放射性和污染的场合，应用得更为广泛。在我国，近几年来也有较快的发展，并取得一定的效果，受到机械工业和铁路工业部门的重视。当今的PLC吸收了微电子技术和计算机技术的最新成果，其应用已从单机自动化推广到整条生产线的自动化乃至整个工厂的生产地宗华。目前，机械手主要用于机床加工、锻造、热处理等方面，无论数量、品种和性能方面还不能满足工业生产发展的需要。在国内主要是逐步扩大应用范围，重点发展锻造、热处理方面的机械手，PLC可以按照所要求完成机械手的设计，使机械手的设计简单化，大大节省了时间，提高了工作效率，减轻了劳动强度，改善作业条件。 本课题拟开发物料搬运机械手，采用西门子系列S7-200PLC，对机械手的上下、左右以及抓取运动进行控制。该装置机械部分、滑轨、机械抓手等。我们利用可编程技术，结合相应的硬件装置，控制机械手完成各种动作。 关键词：机械手，S7-200，可编程技术 ABSTRACT Modern industrial manipulator is a new technology in automatic control field, is the modern control theory and the combination of the industrial automation production practice, and to become an important part of modern mechanical know production system. Industrial robots is to improve the production process automation, improve labor condition, one of the effective methods to improve the product quality and production efficiency. Especially in high temperature and high pressure, dust, noise pollution and radioactive and occasions, more widely applied. In our country, also has a rapid development in recent years, and achieved a certain effect, brought to the attention of the machinery industry and railway departments. Todays PLC absorbs the latest achievements of the microelectronics technology and computer technology, its application has been extended from single machine automation in the whole production line automation and the whole factory built chung wa. At present, the manipulator is mainly used for machining, forging, heat treatment, etc., regardless of the quantity, variety and performance can not meet the needs of the development of industrial production. In domestic major is gradually expanding the scope of the application, the development of the forging, heat treatment of manipulator, PLC can according to the required to complete the design of the manipulator, simplify the design of the manipulator, greatly sa