机械手自动控制系统的PLC实现方法研究.doc

PAGE 16 PAGE III 机械手自动控制系统的PLC实现方法研究 摘要 机械手是一种多功能机械，能自动定位、控制和编程改变。在工业自动化生产中占有重要地位。传动方式可采用液压传动、气动传动、电气控制等方式。随着传感器技术、气动技术和计算机技术的发展，基于计算机技术的控制技术得到了迅速发展。气动技术以其经济、廉价、灵敏度高等优点成为研究热点之一。本文的控制对象是由三个操纵器组成的一组操纵器。每个机械手完成八个基本动作，三个机械手相互配合。机械手由气缸驱动，气缸由电磁阀控制。限位开关检测操纵器是否达到固定位置。本文以西门子S7-200系列CPU224为核心，对EM221数字输入模块和EM222继电器输出模块进行了扩展。机械手的开关信号直接输入PLC，PLC通过中间继电器控制电磁阀。在软件方面，设计了主程序和子程序。主程序控制操纵器组动作，子程序控制每个操纵器动作。 关键词：气动机械手；梯形图；PLC  ABSTRACT Robot is a kind of automatic positioning control and reprogrammable to change the multi-function machines, industrial automation production occupies an important position. Drive can be hydraulic transmission, pneumatic transmission can also be electrical control and other methods. With the development of sensor technology, pneumatic technology and computer technology, the control technology based on computer technology has developed rapidly, among which pneumatic technology has become one of the hotspots of research, which is economical, cheap and sensitive. The control object of this paper is a robot group consisting of three handling manipulators. Each manipulator completes eight basic actions, and three manipulators cooperate with each other. The robot is driven by a cylinder, which is controlled by a solenoid valve. The limit switch detects if the robot reaches a fixed position. In this paper, programmable logic controller (PLC) selects Siemens CPU (SIEMENS) S7-200 series CPU224, and expands the EM221 digital input module and EM222 relay output module. The manipulator of the switch signal directly into the PLC, PLC relay through the middle of the solenoid valve to be controlled. In software, the main program and subprogram are designed. The main program control robot group action, subroutine control each robot action. Key words: pneumatic manipulator; ladder diagram;  目 录 TOC \o 1-3 \h \z \u 摘要 I ABSTRACT II 1 绪论 1 1.1 研究背景 1 1.2 研究意义 1 1.3 国内外研究现状 1 1.3.1 机械手的发展历程及现状 1 1.3.2 气动机械手概述 3 2 设计方案 4 2.1 机械手的设计 4