基于PLC的机械手设计.doc

本科毕业设计（论文）

（2013 届）

论文题目 基于ＰＬＣ的机械手控制系统设计

　　　　　（英文)The design of machine hand control system based on PLC

所在学院 电子信息学院 专业班级

电气工程及其自动化

学生姓名 xxx 学号 2009017141

指导老师 xxx

（浙江万里学院电子信息学院电气工程及其自动化 094 班）

代替了一些在恶劣环境下、工作强度大，甚至有生命危险的工人工作；又因其能按照一定的

程序、时间和位置来完成货物产品的传送和装卸大大节约了劳动力，在现代工业中的使用率

越来越频繁。而机械手的自动化实现有很多方式，PLC 控制就是其中的一种。PLC 是一种

以微处理器为核心的工控装置它采用可以编程的存储器，用来在其内部存储执行逻辑、顺序、

计时、计数和算数运算等操作的指令，并能通过数字、模拟的输入输出控制各类设备的运行。

本设计的机械手所涉及到的运动过程，将通过对 PLC 软件编程驱动机械手上的步进电机运

动，经过不断地编程调试使其能完成上升、下降，左右移动，加紧和放松物件的运动。

关键词：机械手；PLC；步进电机

Abstract

With the continuous development of automation technology, realizes the automatic contr

essor as the core of the memory can be programmed, used to implement logic, sequence,

timing, counting and arithmetic operation in its internal storage instructions, and through di

gital, analog input and output of the control of various types of equipment operation.The

design of the robot motion process involved, will be through the PLC software programmi

ng to drive the manipulator on the stepper motor, through continuous programming and de

bugging, so that it can complete the rise, decline, and move around, stepping up and rela

x the object motion.

Key Words:Machine hand;PLC;Stepper motor

1 引言·····························································1

1.1 课题研究的目的与意义··········································1

2.2.3 PLC 的发展趋势··············································4

3 机械手控制系统的硬件介绍·········································6

3.1 机械手本体····················································6

3.2 机械手电气控制部分············································6

3.2.1 步进电机····················································6

3.2.2 步进电机驱动器··············································7

3.2.3 传感器······················································9

3.2.4 直流电机与直流电机驱动模块·································9

3.3 PLC 控制单元··················································10

3.3.1 PLC 的 I/O 分配·············································11

3.4 以上硬件接线图················································12

3.5 触摸屏·······················································12

4 机械手控制系统的软件制作过程····································13

4.1 西门子触摸屏 SMART700 的编程流程····························13

4.3 机械手的运行流程·············································36

致谢·······························································41

参考文献···························································42

附录 1 机械手控制程序·············································43