基于PLC的工业机械手臂控制系统 毕业设计

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基于PLC的工业机械手臂控制系统

摘要

PLC是以现代微处理器技术为核心的控制器，作为一种通用的工业控制器，其可靠性高、抗干扰能力强；PLC由于采用现代大规模集成电路技术，采用严格的生产工艺制造，内部电路采取了先进的抗干扰技术，具有很高的可靠性，此外，PLC带有硬件故障自我检测功能，出现故障时可及时发出警报信息；PLC采用光电隔离和滤波技术技术有效抑制外部干扰源对PLC的影响，此外PLC还可在强、通用性好；开发周期短，功耗小。本课题对现代工业的的发展具有很重要的意义。 关键词：意义，应用，前景，编程语言，设计

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目 录

1.引言 ............................................................. 4 2机械手机械结构 .................................................... 5 2．1传动机构 ..................................................................................................................... 5 2.1.1.螺旋机构 ..................................................... 5 2.1.2. 滑动螺旋机构 ................................................ 5 2.1.3．滚动螺旋机构 ................................................ 6 2．2机械手夹持器和机座的结构 ....................................... 6 2.2.1．机械手夹持器 ................................................ 7 2.2.2．机座 ........................................................ 7 3可编程控制PLC .................................................... 8 3．1 PLC简介 ...................................................... 8 3．2 PLC内部原理 .................................................. 9 A. 系统程序存储区 ................................................. 11 B. 系统RAM存储区 ................................................. 11 C．用户程序存储区 ................................................. 11 3．3 PLC的工作原理 ............................................... 12 3．4 PLC机型的选择方法 ........................................... 15 3.4.1．PLC的类型 .................................................. 15 3.4.2．输入输出模块的选择 ......................................... 15

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3.4.3 电源的选择 .................................................. 16 3.4.4存储器的选择 ................................................. 16 功能的选择 ........................................................ 16 3.4.6 经济性的考虑 ................................................ 16 3.5 机械手PLC选择及参数 .......................................... 17 3.5.1主要技术数据如下： ........................................... 17 3.5.2 PLC主机的组成 ............................................... 18 4 机械手PLC控制系统设计 .......................................... 18 4．1 机械手的工艺过程 ............................................. 18 4．2 PLC控制系统 ................................................. 20 4.2.1确定输入/输出点数并选择PLC型号 .............................. 20 4.2.2分配PLC的输入/输出端子 ...................................... 21 4.2.3PLC控制系统程序设计 .......................................... 21 5软件设计 ........................................................ 25 5.1 FX1N PLC梯形图中的编程元件 .................................... 25 5.2 程序的总体结构 ................................................ 27 5.2.1 各部分程序如下 .............................................. 27 致谢 .............................................................. 38 参考文献 .......................................................... 39

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1.引言

随着世界经济和技术的发展，人类活动的不断扩大，机器人应用正迅速向社会生产和生活的各个领域扩展，也从制造领域转向非制造领域，各种各样的机器人产品随之出现。像海洋开发、宇宙探测、采掘、建筑、医疗、农林业、服务、娱乐等行业都提出了自动化各机器人化的要求。随着机器人的产生和大量应用，很多领域，许多单一、重复的机械工作由机器人（也称机械手）来完成。

工业机器人是一种能进行自动控制的、可重复编程的，多功能的、多自由度的、多用途的操作机，广泛采用工业机械人，不仅可提高产品的质量与产量，而且对保障人生安全，改善劳动环境，减轻劳动强度，提高劳动生产率，节约原材料消耗以及降低生产成本，有着十分重要的意义。和计算机、网络技术一样，工业机器人的广泛应用正在日益改变着人类的生产和生活方式。

机械手是一种模仿人手动作，并按设定的程序来抓取、搬运工件或加持工具，机械手可在空间抓放物体，动作灵活多样，适用于可变换生产品种的中、小批量自动化生产，广泛应用于自动生产线、自动机的上下料、数控设备的自动换刀装置中。机械手一般由执行系统、驱动系统、控制系统和人工智能组成，主要完成移动、转动、抓取等动作。

控制系统是机械手的指挥系统，它通过控制驱动系统，让执行器按照规定的要求进行工作。并检测其正确与否。可编程控制器（PLC）是一种数定运算操作的电子系统，它将逻辑运算、顺序控制、时序计数、算术运算等控制程序，用指令形式存放在存储器中，并通过数字式、模拟式的输入和输出，控制各种机械或

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