基于PLC的机械手控制系统设计 毕业设计.doc

吉林化工学院毕业设计说明书 基于PLC的机械手控制系统设计 Design of Control System for Manipulator Based on PLC 学生学号： 学生姓名： 专业班级： 指导教师： 职 称： 起止日期： 吉 林 化 工 学 院 Jilin Institute of Chemical Technology 基于PLC控制系统机械手设计 - PAGE 44 - - PAGE I - 摘 要 随着科学技术的日新月异，市场竞争激烈、人工成本上涨，以往人工操作的搬运方式已经不能满足当前高度自动化的需要。减轻劳动强度，保障生产的可靠性、安全性，降低生产成本，提高产品的质量及经济效益是企业生成所必须面临的重大问题。 本设计应用了西门子编程软件STEP7，在研究机械手工作原理和工艺流程的基础上，进行了控制方案的分析与I/O建立，并开发了机械手的手动和自动控制子程序。应用仿真软件进行机械手控制系统的仿真调试，达到预期效果。 机械手是能够模仿人手动作，并按设定程序、轨迹和要求代替人手抓（吸）取、搬运工件或工具或进行操作的自动化装置，它能部分的代替人的手工劳动。较高级型式的机械手，还能模拟人的手臂动作，完成较复杂的作业。在机械制造业中，机械手已被广泛应用，从而大大地改善了工人的劳动条件，显著的提高劳动生产率，加快实现工业生产机械化和自动化的步伐。 关键词: 机械手；自动化；可编程控制器 - PAGE 45 - Abstract With the ever-changing science and technology, market competition intense, labor cost rise, formerly the manual handling can’t meet the current needs of the highly automated. Reduces the labor intensity, the safeguard production reliability, the security, reduces the production cost, enhance the product quality and the economic efficiency is the major issue which the enterprise produces must face. Design applications Siemens programming software STEP 7, we carried out the analysis of the control scheme and establish the I/O list, then I develop the manual control and automatic control program of Manipulator. Finally, we simulate the robot control system simulation debugging, All these work depend on the simulation debugging, then achieved the effect we have expected. Manipulator is to be able to imitate hand movement, and according to set program, locus, required substitute manpower to grab (inhale), take things or tool or the automation installation that operated, it can be partial to replace the handwork labor of person. The manipulator of higher level type can still imitate the arm movement of person，completes more complex work. It has been widely used in machinery manufacturing industry, which greatly impr