基于PLC的机械手臂控制系统设计

基于PLC机械手控制系统设计

摘要

随着现代工业技术的发展，工业自动化技术越来越高，生产工况也有趋于恶劣的态势，这对一线工人的操作技能也提出了更高的要求，同时操作工人的工作安全也受到了相应的威胁。工人工作环境和工作内容也要求理想化简单化，对于一些往复的工作由机械手远程控制或自动完成显得非常重要。这样可以避免一些人不能接触的物质对人体造成伤害，如冶金、化工、医药、航空航天等。

在机械制造业中，机械手应用较多，发展较快。目前主要应用于机床、模锻压力机的上下料以及焊接、喷漆等作业，它可以按照事先制定的作业程序完成规定的操作，有些还具备有传感反馈能力，能应付外界的变化。应用机械手，有利于提高材料的传送、工件的装卸、刀具的更换以及机器的装配等的自动化程度，从而可以提高劳动生产率，降低生产成本，加快实现工业生产机械化和自动化的步伐。

本文主要论述了基于PLC设计的机械手控制系统。首先，对可能用到的可编程控制器进行了相关的介绍，再选择设计所用到的PLC型号。然后，通过对机械手的控制方式及各功能的实现方式进行研究，确定各功能的实现方案和设计控制系统所用到的器材。最后，对PLC控制系统的软件程序和硬件结构进行设计。

关键词：工业自动化；可编程控制器；机械手；远程控制；传感反馈

Abstract

With the development of modern industrial technology, industrial automation technology is more and more high, the production conditions also tended to bad situation, the front-line workers skills also put forward higher requirements, and the operation safety of workers has also been a corresponding threat. The workers work environment and work content also requires ideal for some simple, reciprocating work by robot remote control or automatic completion is very important This can avoid some people can not contact with the human body damage, such as metallurgy, chemical, pharmaceutical, aerospace, etc..

In the mechanical manufacturing industry, the application of mechanical hand more, the development of faster. At present, it is mainly used in machine tools, forging press under the material and welding, painting and other operations, it can be in accordance with pre established operating procedures to complete the prescribed operation, and some also have with sensor feedback ability, can cope with external changes. Application of the manipulator, to improve the material transfer, workpiece loading and unloading, tool replacement and machine assembly automation, which can improve labor productivity, reduce production costs, accelerate the pace of industrial production mechanization and automation.

This paper mainly discusses the design of manipulator control system based on PLC. First, the possible use of the programmable controller is related to the introduction, and then choose the design of the PLC model. Then, through the control mode of the manipulator and the realization way of each function, the realization scheme of each function and the equipment used in the design control system are determined. Finally, the software program and hardware structure of PLC control system are designed.

Keywords: industrial; automation programmable controller ; manipulator；

Remote control；sensor feedback

目录

第一章绪论 (3)

1.1 课题背景 (3)

1.2 机械手的定义与分类 (4)

1.3 机械手的应用及相关组成 (4)

1.4 机械手的发展趋势 (5)

1.4.1.加大在热加工行业的应用 (5)

1.4.2.提高机械手的工作性能 (5)

1.4.3.发展新型组合式机械手 (5)

1.4.4.开发具有观感能力的智能机械手 (6)

第二章可编程控制器PLC (7)

2.1 PLC简介 (7)

2.2 PLC内部结构 (7)

2.2.1 中央处理器CPU (8)

2.2.2存储器 (8)

2.2.3 输入输出单元 (8)

2.2.4电源部分 (10)

2.3 PLC的选型 (10)

第三章机械手系统组成 (12)

3.1 机械手模型的机能特性 (12)

3.2 夹紧机构 (12)

3.3 躯干 (12)

3.4 旋转编码盘 (13)

第四章控制系统设计 (14)

4.1 控制系统硬件设计 (14)

4.1.1 PLC梯形图中的编程元件 (15)

4.1.2 PLC的I/O分配 (15)

4.1.3 机械手控制系统的外部接线图 (16)

4.2 控制系统软件设计 (17)

4.2.1公用程序 (17)

4.2.2自动操作程序 (18)

4.2.3 手动单步操作程序 (27)

4.2.4 回原位程序 (32)

4.3 PLC程序的上载和下载 (37)

4.3.1 PLC程序的上载 (37)

4.3.2 PLC程序的下载 (37)

第五章设计总结 (38)

5.1 总结 (38)

5.2 展望 (38)

参考文献 (39)

致谢 (40)