毕业设计(论文-PLC气动机械手设计.doc

摘 要 为工业机械手研制一个技术性能优良的控制系统，对于提高工业机械手的整体技术性能来说具有十分重要的意义。本论文正是针对这一课题，选择了可编程控制器 PLC 作为工业机械手的控制系统，这对提升工业机械手的整体技术性能起到了良好的作用。 本论文的控制对象是由三个搬运机械手组成的机械手群，每个机械手完成八个基本动作，三个机械手互相配合动作。机械手由气缸驱动，气缸受电磁阀控制。限位开关检测机械手是否到达固定位置。 可编程控制器 PLC 控制每个机械手的动作，实现机械手群的自动运行。本论文可编程控制器 PLC 选用西门子公司S7–200PLC各硬件部分的设计和介绍、PLC梯形图的编写上。在整体设计过程中按照“提出问题，分析问题，解决问题”的主导思想，对整个系统的设计工作做出了细致的阐述。 关键词：可编程控制器 PLC ；气动机械手；梯形图；CPU224； Abstract Develops a technical performance fine control system for the industry manipulator, regarding enhances the industry manipulators overall technical performance to have the extremely vital significance. The present paper is precisely in view of this topic, chose programmable logical controller PLC to take the industry manipulators control system, this to promoted the industry manipulators overall technical performance to play the good role. The present paper controlled member is by three the manipulator group which transports the manipulator to be composed, each manipulator completes eight elementary actions, three manipulators coordinate the movement mutually. The manipulator actuates by the air cylinder, air cylinder solenoid valve control. The limit switch examines the manipulator whether arrives the stationary position. The programmable logical controller PLC controls each manipulators movement, realizes the manipulator group automatic movement. Present paper programmable logical controller PLC selects SIEMENS Corporation S7–200 series CPU224, and expanded the EM221 numeral quantity load module and the EM222 relay output module. Manipulators switch quantity signal direct input PLC, PLC controls through the intermediate relay to the solenoid valve. On the software, has designed the master routine and the subroutine. The master routine controls the manipulator group movement, the subroutine controls each manipulator to act. The present paper key point places the PLC various hardware part the design and the introduction, in the PLC trapezoidal chart compilation. Defers to in