基于PLC的工业机械手控制系统设计

基于PLC的工业机械手控制系统设计

摘要

机械手是工业自动化领域中经常遇到的一种控制对象。近年来随着工业自动化的发展机械手逐渐成为一门新兴学科，并得到了较快的发展。机械手广泛地应用与锻压、冲压、锻造、焊接、装配、搬运、喷漆、热处理等各个行业。特别是在笨重、高温、有毒、危险、放射性、多粉尘等恶劣的劳动环境中，机械手由于其显著的优点而受到特别重视。总之，机械手是提高劳动生产率，改善劳动条件，减轻工人劳动强度和实现工业生产自动化的一个重要手段。

本设计描述了基于PLC的机械手控制系统设计，重点介绍了机械手控制系统中的硬件选择方法，软件的设计过程，以及PLC控制装置的工作过程。

本设计实现了机械手在搬运装配线上，通过S7-200PLC控制机械手完成从A传送带搬运物件至B传送带中，然后进入下一个工作流程。机械手的上升/下降和左转/右转的执行，分别由双线圈二位电磁阀控制气缸的运动实现；夹紧/放松则是由单线圈的二位电磁阀控制气缸的运动来实现。

【关键词】机械手；PLC；电磁阀

Based on plc industrial manipulator control system design

Abstract

In the field of industrial automation manipulator is often met in a control object. In recent years, with the development of industrial automation manipulator gradually become a new subject, and with the rapid development. Manipulator widely application and forging, stamping, forging, welding, assembling, handling, spray paint, heat treatment, etc. Especially in heavy, high temperature, toxic and dangerous, radioactive, dust and so on bad work environment, manipulator because of its significant advantages by pay special attention to. In a word, the manipulator is to improve the labor productivity, improve working conditions, reduce labor intensity and realize industrial production automation is an important means.

This design based on PLC describes the manipulator control system design, introduced the manipulator control system, the hardware selection method, the software design process, and the working process of the PLC control device.

The design and implementation of the manipulator in the handling assembly line, manipulator controlled by the S7-200PLC complete conveyor belt carrying objects from A to B conveyor, and then go to the next workflow. The implementation of the up / down and left / right of the manipulator, respectively, to achieve control movement of the cylinder by a double coil solenoid valve; clamp / unclamp cylinder is controlled by a single coil solenoid valve movement.

【Key Words】Manipulator；PLC；solenoid valve

目录

摘要 (1)

目录 (4)

第1章绪论 (1)

1.1 课题的目的和意义 (1)

1.2 课题研究的内容 (1)

第2章机械手和PLC (2)

2.1 机械手 (2)

2.1.1 机械手的概述 (2)

2.1.2 机械手的应用 (2)

2.1.3 机械手的应用意义 (3)

2.1.4 机械手的发展概况 (4)

2.1.5 机械手的发展趋势 (4)

2.2 PLC (5)

2.2.1 PLC的基本概念 (5)

2.2.2 PLC的组成 (6)

2.2.3 PLC的主要特点 (7)

2.2.4 PLC的工作原理 (8)

2.2.5 PLC的应用领域 (10)

第3章机械手控制系统的设计 (12)

3.1 机械手控制系统构件概述 (12)

3.2 系统控制对象及工艺过程 (14)

3.3 控制要求 (16)

3.4 方案选择及系统配置 (16)

3.5 PLC的硬件设计 (17)

3.5.1 PLC的选型 (17)

3.5.2 I/O的资源配置 (18)

3.5.3 PLC的接线图 (19)

3.5.4 操作面板 (20)

3.6 系统软件设计 (21)

3.6.1 顺序功能图 (21)

3.6.2 全程序OB1 (23)