基于PLC的机械手控制系统.doc

I 摘要现代工业中突出的主题是生产过程的机械化,自动化。在当今大规模制造业中,企业为提高生产效率,保障产品质量, 降低生产成本,开始重视生产过程的自动化,工业机器人作为自动化生产线上的重要成员,逐渐被企业所认同和采用。在工业生产和其他领域内,由于工作的需要, 人类经常受到高温、腐蚀及有毒气体等因素的危害,甚至于危及生命。工业机械手就在这种背景下诞生了,机械手是能够模仿人体上肢的部分功能,可以对其进行自动控制使其按照预定要求输送制品或操持工具进行生产操作的自动化生产设备。自上世纪六十年代,PLC 设计的机械手被实现后,它被广泛的应用到工业生产的各个领域,代替人工作业,进行高温,高危,有毒方面的工作,还被用于繁重的,单调的的工作等。本课题主要研究的是基于 PLC 的机械手控制系统,其中介绍了机械手的分类、特点和构成,还有机械手的控制方式,主要讲的还是 PLC 硬件的设计和软件的设计,通过设计编制 PLC 程序实现机械手控制系统的自动控制。通过本次课题的设计,更全面的了解可编程控制器的作用和应用。关键词: PLC ,机械手,输入/输出控制,编程设计 II PLC-based R obot C ontrol S ystems ABSTRACT Prominent theme in modern industry is the production process of mechanization and automation. In today's large-scale manufacturing enterprises to improve production efficiency, ensuring product quality, reduce production costs, paying attention to the production process automation, industrial automation robotics as an important member of the production line, and gradually recognized and used by businesses. In industrial production and other fields, asa result of the needs of humans are constantly subjected to high temperature, corrosive and toxic gas hazards and other factors, and even life-threatening. Industrial robots in this context was born, the robot is able to mimic some human upper limb function, so that it can be automatically controlled according to a predetermined conveying articles or manage tools required for productive operation of automated production equipment. Since the sixties of last century, PLC robot design is implemented, it has been widely applied to various fields of industrial production, instead of doing the job, high-temperature, high-risk, toxic aspects of the work, also used the heavy, monotonous of the work. The main subject of the study is PLC-based robot control system, which describes the manipulator classification, characteristics position, as well as robot control, mainly talking about or PLC hardware design and software design, through the design of the preparation of the PLC program implementation robot control sy