基于PLC的机械手臂搬运加工程序设计

基于PLC的机械手臂搬运加工程序设计(论文15000字)
摘  要
在现代化的工业生产以及其他领域内，因为各种工作的需要，机械手臂可在生产空间抓、放、搬运物体，动作灵活多样，广泛应用于柔性自动化生产线。机械手臂的运作是由电动机驱动来移动一只手臂，张开或关闭一个夹子的动作，并精确的回馈至可编程逻辑控制器。这种自动装置机械以完成“腕部以及手部”的动作为主要素求，可以由熟练的操作者将作业顺序输入后，就能依样照作并且反复完成无数次的的正确规律运作。机械手臂一般由耐高温，抗腐蚀的材料制成，用来适应工业现场恶劣的环境，大大降低了劳动者的劳动强度，提高了人们的生产效率。
在本设计中重点介绍了机械手臂控制系统的工作原理和整个生产过程的实现，还介绍了国内外机械手臂的研究现状以及PLC的研究发展趋势。
本设计的主要内容是在传送带传送过来的产品中通过相应的传感器进行标记合格的产品和不合格的产品，然后使用机械手臂进行抓取分类并传送到相应的地方。
在此设计方案中选用PLC作为控制器，研究了基于PLC控制的机械手臂模型控制系统的设计，在PLC的控制下机械手能够完成产品的分类以及传送的动作。本系统还设计了两种工作状态：手动工作和自动工作。这样的设计有利于工业现场的调试以及一些系统方案的完整性。选用WINCC软件制作监控组态，研究了WINCC在机械手控制系统中的应用。组态软件WINCC所设计的机械手臂模型控制系统的监控界面，使用者可以较为直观、清晰、准确的看到机械手臂的运行过程，从而为维修和故障诊断提供了方便，充分提高了系统的工作效率。

关键词： 机械手臂  PLC自动控制  WINCC组态监控

The Design Robotic Arm Handling and Processing Program with a PLC
                             Abstract
In the modern industrial production and other areas, because of the need of various works, the mechanical arm can clutch, place, handle objects, and it can be widely used in automated production lines. The action of arm manipulator is moving an arm, opening or closing a clip and transferring signals accurately to the programmable logic controller. This automatic mechanical’s aim is completing the action of "wrist and hand”. After the sequence of operations entered by a skilled operator, It will be able to follow suit and repeatedly done correctly according to the law for numerous operations. The mechanical arm generally consisting of high temperature and corrosion-resistant material is used to adapt to the harsh environment industrial field. It also greatly reduces the labor intensity of workers and improves people's productivity.
This design focuses on the working principle of the mechanical arm control system and implement the entire production process, but also introduces the research status of the mechanical arm, and research trends PLC.
The main content of the design is picking up qualified products which are scent over by the conveyor belt through the corresponding sensor. Then using a mechanical arm to crawl, classify and transmit to the appropriate place.
In this scenario PLC is chosen as a Controller. The design studies the model of the robot arm control system which is based on PLC control. The system can complete the action of products’ classification and transfer under the control of PLC. The system is also designed two operating states: manual work and work automatically. Such a design is conducive to the debugging of industrial field and the integrity of the system. The WINCC is selected as monitoring configuration software. It studies the robot control system with WINCC. By the Monitoring interface of WINCC which is designed for the model of the mechanical arm control system, users can watch the mechanical arm running process more intuitively, clearly and accurately, in order to provide a convenient of maintenance and troubleshooting and also improve the system works fully.

Keywords：Robotic Arm Manipulator , PLC Automatic Control , WINCC Configuration Monitoring.

目录
摘  要    I
ABSTRACT    II
目录    III
第一章 引言    1
1.1 课题背景    1
1.2本研究课题的国内外研究现状的介绍以及应用    1
1.3 课题研究的主要内容    2
1.4 课题研究的意义    2
第二章基于PLC的机械手臂搬运加工程序设计    3
2.1 PLC概况    3
2.1.1 PLC结构    4
2.1.2 PLC原理    5
2.1.3 PLC的结构及基本配置    5
2.2 PLC的选型    6
2.3 限位开关    7
2.4 机械手臂概述    8
2.4.1 机械手臂的控制    9
2.4.2 机械手臂搬运加工流程框图设计    9
2.5 程序设计    10
2.5.1 控制方案    10
2.5.2 本系统的控制要求和流程图设计    10
2.5.3 I／O口配置    12
2.6  PLC程序的梯形图设计    13
2.7 S7-PLCSIM仿真    23
2.7.1 S7-PLCSIM仿真介绍    23
2.7.2 S7-PLCSIM软件的功能    23
2.7.3 S7-PLCSIM在本课题中应用    23
2.7.4 仿真结果    24
第三章 WINCC监控组态    28
3.1 WINCC简介    28
3.2 WINCC的特征    28
3.3 WINCC在本课题中的应用    29
3.3.1项目的创建    29
3.3.2建立变量    29
3.3.3建立机械手监控画面    32
3.4软件通讯    34
第四章 系统调试    37
4.1软件调试    37
4.1.1调试步骤    37
4.1.2调试出现的问题及修改    37
4.2系统调试    38
4.3 调试结果    39
第五章 总结    42
参考文献    43
致谢    45