基于plc的机械手控制系统设计毕业设计论文blo72zs2.docVIP

本科生毕业设计 基于PLC的机械手控制系统设计 学 生 姓 名 所 在 学 院 专业及班级 指 导 教 师 完 成 日 期 摘要 本文在了解机械手和PLC控制技术的国内外研究现状及发展趋势基础上,选用四自由度液压机械手作为控制对象进行研究。 由于液压机械手具有大功率、易控制和快速性等特点，在工业各领域得到广泛的运用。四自由度液压机械手涉及到了机械设计、液压系统和控制系统等综合知识,是典型的机电液一体化系统。本文在分析机械手工作环境和要完成的任务后,选定了机械手的机构；在分析机械手各动作后,对液压部分进行了分析。液压部分是控制的关键所在，本系统是通过PLC控制电磁阀的电磁铁,从而实现对机械手各动作的控制。通过分析系统对输入输出数据釆集的要求,选择适当的PLC、I/O模块、信号采集元件压力变送器、分配PLC输入输出地址、设计控制系统电路和控制柜。 最后,本设计以四自由度液压机械手为对象,采用公司生产的西门子PLC和触摸屏进行控制,用自带编程软件STEP 7 MicroWIN V4.0 SP3与 Wincc flexible 2008编程实现机身旋转、手臂伸缩、手腕转动和手指夹取等自动、半自动和点动动作。 关键词：机械手； PLC； 触摸屏； 传感器；控制； 程序 Abstract This article is based on the understanding of the manipulator and the PLC technology at home and abroad based on the present situation and development trend, selected Four-DOF hydraulic manipulator as the control object to study. As the hydraulic manipulator with, high-power, easy control and fast, etc. Widely used in various industrial fields, Four-DOF hydraulic manipulator Involve Mechanical Design Hydraulic System Control System Is a typical mechanical and electronic integration system This article analyzes the manipulator working environment, and mission to complete, then selected the manipulator, while analysis the manipulator motion, Analysis the hydraulic parts. Hydraulic part is the key to control, this system control the Electromagnet of Solenoid valve by the PLC, In order to achieve the movement of the manipulator control. Pressure Transmitter and Grating sensor by Analysis the hydraulic system on the input and output data collection requirements. I/O module, signal acquisition components pressure transmitter, PLC I/O address distribution, design control system circuit and the control cabinet. Finally, the subject is an object with four degrees of freedom hydraulic manipulator, the company production of Siemens PLC and touch screen control, with their own programming software STEP 7 M