基于PLC的机器人控制系统设计-毕业论文.doc

PAGE 7 毕业设计（论文） 毕业论文题目：基于PLC的机器人控制系统设计 摘 要 经济型数控机床装夹机器人的主要工作就是先将工件上料给到机床，等待机床装夹；机床加工完成后，再将工件卸下，并把工件抓取到下料处，这一系列的工作都是由机器人自动完成的。机器人在智能算法的支持下，机器人不仅能够自动的判别工件的位置，准确的夹住工件并且将其装上机床，还能自动判别一些加工状况，并且做出相应的反应，当然发生故障时，由于预先编制了智能算法来模拟人对一些问题的判断和处理，机器人也能自我纠正一些问题，当不能解决则发警报给工作人员。把这种机器人与数控机床群相连时，机器人的智能化与数控机床的自动化就能极大的提高生产效率。而本文就主要是通过对机器人“大脑”的设计，使机器人具有一定的智能化。在设计控制系统之前，需要对机器人的执行结构进行方案设计。在这个方案中，先对机器人的主体结构进行选型及大体的设计；然后根据这个大体的结构，逐一的对机器人的每个关节的驱动方式、传动方式进行选择设计；根据最后基本完成的机器人执行机构来选择机器人的传感器。结构完成后就是系统设计了，先根据机器人结构，绘制控流程图并进行输入输出的地址分配，再根据地址情况以及设计要求选择一款合适的PLC，最后根据控制流程图和输入输出的地址进行编程。最终使机器人能够完成对机床的上下料装夹的工作。 关键词：机器人； 控制系统； PLC； 步进电机； ABSTRACT The main work of the economic NC machine tool clamping robot is to feed the workpiece to the machine tool first and wait for the machine tool to be clamped; after the machining of the machine tool is completed, the workpiece is unloaded and the workpiece is grabbed to the blanking place. This series of work is automatically completed by the robot. With the support of intelligent algorithm, the robot can not only automatically identify the position of the workpiece, accurately clamp the workpiece and install it on the machine tool, but also automatically identify some processing conditions, and make corresponding response. Of course, in case of failure, because intelligent algorithm is prepared in advance to simulate the judgment and processing of some problems, the robot can also self correct some problems If the problem cannot be solved, send an alarm to the staff. When this kind of robot is connected with CNC machine tools, the intelligent robot and the automation of CNC machine tools can greatly improve the production efficiency. This paper is mainly through the design of robot brain, so that the robot has a certain degree of intelligence. Before designing the control system, it is necessary to design the executive structure of the robot. In this scheme, the main structure of the robot is first selected and designed in general; then, according to the general s