【正文】 ............................................................................... 10 機(jī)械手機(jī)構(gòu)分析 ....................................................................................................... 10 機(jī)械手液壓系統(tǒng)分析 ................................................................................................ 11 機(jī)械手設(shè)計(jì)時(shí)應(yīng)考慮的幾個(gè)問題 ............................................................................. 12 本章小結(jié) .................................................................................................................. 13 第三章機(jī)械手控制系統(tǒng)設(shè)計(jì) ............................................................................................... 14 機(jī)械 手動(dòng)作分析 ....................................................................................................... 14 機(jī)械手運(yùn)動(dòng)參數(shù)分析 ......................................................................................... 14 機(jī)械手控制方式分析 ......................................................................................... 14 儀器選型 .................................................................................................................. 16 可編程控制器簡(jiǎn)要介紹 ..................................................................................... 16 本系統(tǒng) PLC 的選型 ............................................................................................ 19 控制電路的設(shè)計(jì) .................................................................................................. 27 本章小結(jié) .................................................................................................................. 29 第四章 PLC 控制系統(tǒng)程序的設(shè)計(jì) ....................................................................................... 29 總程序的設(shè)計(jì) ........................................................................................................... 29 回原點(diǎn)程序的設(shè)計(jì) ................................................................................................... 30 點(diǎn)動(dòng)程序的設(shè)計(jì) ....................................................................................................... 31 自動(dòng)程序的設(shè)計(jì) ....................................................................................................... 34 觸摸屏程序的設(shè)計(jì) ................................................................................................... 35 本章小結(jié) .................................................................................................................. 37 第五章 程序調(diào)試與功能實(shí)現(xiàn) ............................................................................................. 38 西門子 S7200 的通訊 .............................................................................................. 38 IV PLC 通信 .................................................................................................................. 39 第六章 總結(jié)與展望 ............................................................................................................ 41 總結(jié) ......................................................................................................................... 41 展望 ......................................................................................................................... 41 致謝 ................................................................................................................................... 42 參考文獻(xiàn) ............................................................................................................................ 43 附錄 ................................................................................................................................... 44 1 第一章緒論 工業(yè)機(jī)械手 (以下簡(jiǎn)稱機(jī)械手 )是近代自動(dòng)控制領(lǐng)域中出現(xiàn)的一項(xiàng)新技術(shù) ,已經(jīng)成為現(xiàn)代制造生產(chǎn)系統(tǒng)中的一個(gè)重要組成部分。 關(guān)鍵詞 ： 機(jī)械手 ； PLC； 觸摸屏 ； 傳感器 ； 控制 ； 程序 II 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 FourDOF hydraulic manipulator as the control object to study. As the hydraulic manipulator with, highpower, easy control and fast, etc. Widely used in various industrial fields, FourDOF 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 plete, then selected the manipulator, while analysis the manipulator motion, Analysis the hydraulic parts. Hydraulic part is the key to control, this system control the Electromag 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 ponents pressure transmitter, PLC I/O address distribution, design control system circuit and the control cabi. Finally, the subject is an object with four degrees of freedom hydraulic manipulator, the pany production of Siemens PLC and touch screen control, with their own programming software STEP 7 MicroWIN SP3 and Wincc flexible 2021 programming implementation body rotation, telescopic arm, wrist and fingers point such as automatic, semiautomatic and motion. Key words: manipulator。本文在分析機(jī)械手工作環(huán)境和要完成的任務(wù)后 ,選定了機(jī)械手的機(jī)構(gòu) ； 在分析機(jī)械手各動(dòng)作后 ,對(duì)液壓部分進(jìn)行了分析。 本科生畢業(yè)設(shè)計(jì) 基 于 PLC 的機(jī)械手控制系統(tǒng)設(shè)計(jì) 學(xué) 生 姓 名 所 在 學(xué) 院 專業(yè)及班級(jí) 指 導(dǎo) 教 師 完 成 日 期 I 摘要 本文在了解機(jī)械手和 PLC 控制技術(shù)的國內(nèi) 外研究現(xiàn)狀及發(fā)展趨勢(shì)基礎(chǔ)上 ,選用四自由度液壓機(jī)械手作為控制對(duì)象進(jìn)行研究。液壓部分是控制的關(guān)鍵所在 ， 本系統(tǒng)是通過 PLC 控制電磁閥的電磁鐵 ,從而實(shí)現(xiàn)對(duì)機(jī)械手各動(dòng)作的控制。 PLC。機(jī)械手的迅速發(fā)展是由于它具有的積極作用正日益為人們所認(rèn)識(shí) :其一 ,它能部分地代替人工操作 。因而 ,機(jī)械手受到各先進(jìn)工業(yè)國家的重視 ,并投入了大量的人力物力加以研究和應(yīng)用 ,尤其在高溫、高壓、粉塵、噪聲以及帶有放射性和污染性的場(chǎng)所 ,應(yīng)用更為廣泛。 Programmable Logical Controller 簡(jiǎn)稱為 PLC。 (二） 可靠性高、抗干擾能