基于PLC的机械手控制系统研究

基于PLC的机械手控制系统研究(任务书,开题报告,论文说明书15000字)
摘要
进入21世纪后，随着中国虚拟经济的飞速发展和其他行业的干扰，生产车间的工人的数量大大减少，工业生产中的效率也愈来愈低。例如，近年来东南沿海地区就业岗位严重短缺，导致许多工厂面临倒闭的局面。为尽快使车间工作生产率进步，降低劳动者的工作强度，需要增加产业中国的自动化。经过将机械手应用于工业自动化生产线后，加工车间自动把物品从一条生产线运输到另一条生产线，这能够完成高度自动化生产，从而减少工业工人不必要的工作并改善工作效率。
本次研究所设计的基于PLC的机械手控制系统需实现对物体的搬送，该机械手按以下动作来对物体进行移动：原位、下降、夹紧、上升、左移、下降、放松、上升、右移、原位。且操作工程中，机械手的运动既可以是自动的，也可以通过外部输入来操作。考虑到控制要求和实际情况，采用了Siemens S7-300系列PLC。且应用编程软件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。
机械手的巨大作用正逐渐为人们所认识，它已经和人们的生活变得息息相关。它能够部分地代替人进行工作且能达到生产过程的要求，也可以按照一定的顺序、流程和空间操作来完成工件的转移。机械手的出现使实体工厂的工作环境得到很大的改善，还使工业生产机械化和自动化更加高效率。 [来源：http://think58.com]

关键词：机械手；PLC；控制系统；STEP7

Abstract
After entering the 21st century, with the rapid development of China's virtual economy and interference from other industries, the number of workers has been greatly reduced and the efficiency in industrial production is getting lower. For example, the severe shortage of jobs in the south-eastern coastal areas in recent years has led many factories to face collapse. In order to urgently improve labor productivity and reduce the labor intensity of laborers, it is necessary to increase the automation of industrial China. By using manipulators in industrial automation production lines, industrial products are transported from one production line to another, which enables highly automated production, thereby reducing the regular work of industrial workers and increasing productivity.
The robot control system based on PLC designed by this research should realize the moving object according to certain working order, the working order of the manipulator is: present situation, descent, clamping, rising, left shift, descending, relaxation, rising, right shift, in place. And in the operation Engineering, the movement of the manipulator can be either automatic or operated by external input. Taking into account the control requirements and the actual situation, the Siemens PLC S7-300 Series is adopted. The Siemens programming software STEP7 is applied, and on the basis of studying the working principle and process flow of the manipulator, the control scheme is analyzed and I/O is established, and the manual and automatic control subroutine of the manipulator is developed. The simulation software is used to simulate and debug the Manipulator control system to achieve the desired results. [资料来源：www.THINK58.com]
The positive role of manipulator has becoming more and more people's understanding, it has become closely related to people's life. It can partially replace the person to work and can meet the requirements of the production process, follow a certain procedure, time and position to complete the transfer of the workpiece. As a result, it can greatly improve the working conditions of workers and accelerate the pace of mechanization and automation of industrial production.

Key words: robot; PLC; control system; STEP7

目录
第1章 绪论    1
1.1 研究背景    1
1.2 PLC在工业控制中的应用    1
1.3 机械手国内外研究现状    2
第2章 机械手控制系统的总体方案设计    3
2.1 机械手构成及其工作过程    3
2.1.1 机械手结构组成    3
2.1.2 机械手的工作过程    5
2.2 机械手控制功能要求    6
2.3 控制方案确定    8 [资料来源：http://think58.com]
2.4 控制结构设计    10
2.5 电气控制结构    10
第3章 机械手控制系统硬件设计    13
3.1 控制系统硬件配置    13
3.1.1 硬件模块选配    13
3.1.2  PLC控制柜设计    14
3.2 控制系统硬件组态    17
3.2.1 创建项目    17
3.2.2 机架配置    18
第4章 机械手控制系统软件设计及调试    20
4.1 符号表建立    20
4.2 程序设计    21
4.2.1主程序结构设计    21
4.2.2 手动控制程序    25
4.2.3 自动控制程序    25
4.2.4 复位控制程序    31
4.3 控制系统仿真与调试    31
第5章 个人总结    33
参考文献    34
致谢    35 [资料来源：www.THINK58.com]