PLC搬运机械手控制系统设计+梯形图程序
摘 要：机械手在机械化生产过程中不仅可以提高生产过程的自动化程度还可以改善劳动的条件、避免人身事故，并且随着PLC在机械手控制过程中的普遍应用，因此本文提出了基于PLC的搬运机械手控制系统设计。79056
本机械手的手爪和手臂采用液压传动，并通过电磁阀带动丝杠、螺母完成伸缩和升降运动。机械手动作转换依靠设置在不同位置的行程开关产生的通断信号传输到PLC控制器，通过PLC内部程序输出不同的信号，驱动外部线圈从而控制电动机产生不同的动作，实现机械手的精确定位。其动作过程包括：下降，夹紧，上升，右移，下降，放松，上升，左移。操作方式：单步、回原点、手动、连续、单周期，从而实现生产中的各种控制要求。PLC控制系统选用SIEMENS公司S7-200系列CPU224，此次设计I/O为19/6，另外选择扩展模块EM221I/O规格。
最后，本设计采用V4。0 STEP7-Micro/WIN Sp9软件平台进行编程、调试，完成了该设计的测试，从测试结果可以看出，该设计是可行的。
毕业论文关键词：可编程控制器，搬运机械手，电磁阀，自动控制
Abstract: Manipulator in mechanized production process not only can improve the degree of automation of the production process can also improve labor condition, avoid accidents, and along with the widely application of PLC in manipulator control process, so this article puts forward carrying manipulator based on PLC control system design。 The manipulator gripper adopts pneumatic transmission; Arm used electric transmission and pneumatic solenoid valve driven by screw, nut, scaling and lifting movement。 Manipulator motion transformation rely on set in different position of stroke switch on-off signals transmitted to the PLC controller, through the PLC program output within different signal, to control motor drive external coil produces different movements, realize accurate positioning of the manipulator。 Its action process includes: drop, clamping, rising, moves to the right, down, relax, rise, shift to the left。 Mode of operation: single step, back to the origin, manual, continuous, single cycle, so as to realize in the production of various control requirements。 PLC control system is chosen SIEMENS S7-200 series CPU224 company, because the design of I/O is 19/6。 Choose other extension module EM221I DC24 D1DC24V8 road the digital quantity input/O specifications。 Using V4。0 STEP7 - Micro/WIN Sp9 programming software platform, flexible, friendly interface and convenient debug。
Finally, the design adopts V4。0 STEP7 - Micro/WIN Sp9 software platform for programming, debugging, completed the design of the test, can be seen from the test results, the design is feasible。
Keywords: Programmable controller, handling robots, electromagnetic valve, automatic control
目 录
1 绪论 4
1。1 搬运机械手的研究意义 4
1。3 PLC概况及在机械手中的应用 4
2 搬运机械手总体设计方案 6
2。1 搬运机械手结构 6
2。2 搬运机械手的控制过程 6
2。3 搬运机械手的控制要求 7
3 搬运机械手硬件系统设计 8
3。1 机械手的动作设计 8
3。2 机械手结构组成 9