機(jī)械手移動(dòng)物體控制器的設(shè)計(jì)

電氣自動(dòng)化論文編號:ZD215 論文字?jǐn)?shù):7841,頁數(shù):27

目 錄
摘要 I
Abstract II
畢業(yè)設(shè)計(jì)任務(wù)書 III
第1章 緒論 1
1.1 課題背景 1
1.2 本文研究的主要內(nèi)容 1
第2章 機(jī)械手移動(dòng)物體的設(shè)計(jì) 2
2.1可編程控制器PLC 2
2.1.1 可編程控制器PLC的產(chǎn)生 2
2.1.2 PLC的基本原理 3
2.2機(jī)械手移動(dòng)物體的基本構(gòu)造 4
2.3機(jī)械手移動(dòng)物體的工作流程與工作原理 5
2.3.1機(jī)械手移動(dòng)物體的工作流程 5
2.3.2 機(jī)械手移動(dòng)物體的工作原理 5
2.4機(jī)械手移動(dòng)物體硬件設(shè)計(jì) 6
2.4.1 PLC的I/O點(diǎn)數(shù)估算與選型 6
2.4.2 可編程控制器PLC——CPM2A型機(jī)簡要說明 7
2.4.3 系統(tǒng)資源分配 8
2.4.4 機(jī)械手移動(dòng)物體端子連線設(shè)計(jì) 8
第3章 機(jī)械手移動(dòng)物體控制系統(tǒng)PLC程序 10
3.1 機(jī)械手移動(dòng)物體的流程 10
3.2 源程序、程序段的說明及程序的仿真圖 11
3.2.1 源程序 11
3.2.2 程序調(diào)試的過程與結(jié)果 12
3.2.3 程序段的說明 13
3.2.3 程序的仿真圖 16
小 結(jié) 19
致 謝 20
參考文獻(xiàn) 21
附 錄  機(jī)械手移動(dòng)物體助記符 22

摘要
利用可編程控制器---PLC作為控制機(jī)械手的控制系統(tǒng)具有優(yōu)越的穩(wěn)定性和抗干擾性，適用于各種環(huán)境的工業(yè)現(xiàn)場。在系統(tǒng)投入生產(chǎn)后，更有維修方便，維護(hù)方便等特點(diǎn)。其對生產(chǎn)效率和降低生產(chǎn)成本有很大的積極意義。
傳統(tǒng)的繼電器機(jī)械手控制系統(tǒng)的設(shè)計(jì)復(fù)雜，接線繁雜，易受干擾等問題可以通過采用PLC作為機(jī)械手控制系統(tǒng)來很好的解決。目前的機(jī)械手控制系統(tǒng)在機(jī)械手自由度的設(shè)置方面有很大局限性，增加機(jī)械手的自由度可以使系統(tǒng)的功能更強(qiáng)，應(yīng)用范圍更廣泛。建立的控制系統(tǒng)應(yīng)具有自動(dòng)運(yùn)行模式和手動(dòng)運(yùn)行模式，才能使的性能最大限度的發(fā)揮出來，使系統(tǒng)的優(yōu)越性充分體現(xiàn)。
PLC作為機(jī)械手控制器的核心部分，通過計(jì)算機(jī)編程，將程序?qū)�入PLC內(nèi)部，進(jìn)行現(xiàn)場工作。在其進(jìn)行現(xiàn)場工作期間，可通過計(jì)算機(jī)對其進(jìn)行在線監(jiān)控，并可及時(shí)做出調(diào)整或修改。
關(guān)鍵詞：可編程控制器，機(jī)械手，工業(yè)現(xiàn)場

The manipulator moves the object controller's design
Abstract
Uses the programmable controller---the PLC achievement controls manipulator's control system to have the superior stability and the anti-jamming, is suitable in each kind of environment industry scene. After system place in operation, has the service to be convenient, maintains characteristics and so on convenience. It and reduces the production cost to the production efficiency to have the very big positive sense. 
The traditional relay manipulator control system's design is complex, the wiring is numerous and diverse, is disturbed and so on questions to be possible easily through to use PLC to come as the manipulator control system the very good solution. The present manipulator control system has the very big limitation in the manipulator degree-of-freedom's establishment aspect, increases manipulator's degree-of-freedom to be possible to cause system's function to be stronger, the application scope is more widespread. The establishment control system should have the automatic movement pattern and the manual movement pattern, can cause the performance display maximum limit, causes system's superiority to manifest fully.  
PLC as a manipulator of the core of the controller, computer programming, will import PLC internal procedures, conduct on-site work. Carries on field work period in it, may carry on the on-line monitoring through the computer to it, and may make the adjustment or the revision promptly.
Key word: Programmable controller   Manipulator   Industry scene