【正文】 本科生畢業(yè)設(shè)計(jì)（論文） I 摘 要 為工業(yè)機(jī)械手研制一個技術(shù)性能優(yōu)良的控制系統(tǒng)，對于提高工業(yè)機(jī)械手的整體技術(shù)性能來說具有十分重要的意義。本論文正是針對這一課題，選擇了可編程控制器 (PLC)作為工業(yè)機(jī)械手的控制系統(tǒng)，這對提升工業(yè)機(jī)械手的整體技術(shù)性能起到了良好的作用。 本論文的控制對象是由三個搬運(yùn)機(jī)械手組成的機(jī)械手群，每個機(jī)械手完成 8個基本動作，三個機(jī)械手互相配合動作。機(jī)械手由氣缸驅(qū)動，氣缸受 電磁閥控制。限位開關(guān)檢測機(jī)械手是否到達(dá)固定位置。 可編程控制器 (PLC)控制每個機(jī)械手的動作，實(shí)現(xiàn)機(jī)械手群的自動運(yùn)行。本論文 可編程控制器 (PLC)選用 西門子 （ SIEMENS） 公司 S7200 系列的 CPU224，并擴(kuò)展了 EM221 模塊和 EM222 模塊。 機(jī)械手 的開關(guān)量信號直接輸入 PLC， PLC 通過中間繼電器對電磁閥加以控制。 本論文的重點(diǎn)放在 PLC 各硬件部分的設(shè)計(jì)和介紹、 PLC 梯形圖的編寫上。在整體設(shè)計(jì)過程中按照“提出問題，分析問題，解決問題”的主導(dǎo)思想，對整個系統(tǒng)的設(shè)計(jì)工作做出了細(xì)致的闡述。 關(guān)鍵詞： 可編程控制器 (PLC)；氣動機(jī)械手； 梯形圖 本科生畢業(yè)設(shè)計(jì)（論文） II Abstract Develops a technical performance fine control system for the industrymanipulator, regarding enhances the industry manipulator39。s overalltechnical performance to say has the extremely vital significance. Thepresent paper is precisely in view of this topic, chose theprogrammable logical controller (PLC) to take the industry manipulator39。scontrol system, this to promoted the industry manipulator39。s overalltechnical performance to play the good role. The present paper controlled member is by three the manipulator group which transports the manipulator to be posed, each manipulator pletes 8 elementary actions, three manipulators coordinate the movement manipulator actuates by the air cylinder, air cylinder solenoid valve limit switch examines the manipulator whether arrives the stationary position. The programmable logical controller (PLC) controls each manipulator39。smovement, realizes the manipulator group automatic movement. Thepresent paper programmable controller (PLC) selects SIEMENS pany S7200 series CPU224, and expanded the EM221 module and the EM222 module. Manipulator39。s switch quantity signal direct input PLC,PLC performs through the intermediate relay to the solenoid valve tocontrol. The present paper puts with emphasis on the PLC various hardwarepartial designs and the introduction, in the PLC trapezoidal chartpilation. Defers to in the overall design process asks thequestion, the analysis question, solves the problem the guidingideology, has made the careful elaboration to the overall systemdesign work. Key words ： Programmable Logical Controller (PLC)。 Air operated manipulator。Trapezoidal chart 本科生畢業(yè)設(shè)計(jì)（論文） III 目 錄 第 1 章 緒 論 ........................................................................................................... 1 機(jī)械手的概念 ............................................................................................ 1 氣動機(jī)械手的簡介 .................................................................................... 1 氣動技術(shù) ......................................................................................... 1 氣動機(jī)械手 ..................................................................................... 2 氣動機(jī)械手的發(fā)展趨勢 ................................................................. 3 第 2 章 方案論證 ..................................................................................................... 4 機(jī)械手的設(shè)計(jì) ............................................................................................ 4 氣動搬運(yùn)機(jī)械手的結(jié)構(gòu) ................................................................. 4 氣動搬運(yùn)機(jī)械手的工作原理 ......................................................... 4 氣動搬運(yùn)機(jī)械手群 .................................................................................... 5 氣動搬運(yùn)機(jī)械手群結(jié)構(gòu) ................................................................. 5 氣動搬運(yùn)機(jī)械手群工作原理 ......................................................... 6 本論文的主要內(nèi)容及達(dá)到的目標(biāo) ............................................................ 6 本系統(tǒng)的控 制方案 .................................................................................... 6 第 3 章 系統(tǒng)硬件電路的設(shè)計(jì) ................................................................................. 8 PLC 的簡介 ................................................................................................ 8 可編程控制器的概念 ..................................................................... 8 PLC 的應(yīng)用領(lǐng)域 ............................................................................. 8 PLC 的系統(tǒng)組成 ............................................................................. 9 PLC 的工作原理 ........................................................................... 11 輸入 /輸出信號 ........................................................................................ 13 PLC 的選型 .............................................................................................. 15 PLC 的選型 ................................................................................... 15 PLC 及擴(kuò)展模塊的技術(shù)指標(biāo) ....................................................... 16 I/O 地址分配 ............................................................................................ 18 PLC 外部接線 .......................................................................................... 20 第 4 章 軟件設(shè)計(jì) ................................................................................................... 22 機(jī)械手 1 控制程序 .................................................................................. 22 機(jī)械手 2 控制程序 .................................................................................. 24 本科生畢業(yè)設(shè)計(jì)（論文） IV 機(jī)械手 3 控 制程序 .................................................................................. 26 機(jī)械手群主程序 ...................................................................................... 29 第 5 章 結(jié)論 ........................................................................................................... 32 參考文獻(xiàn) ................................................................................................................. 33 致 謝 .............................