I摘要随着人类科技的进步，社会经济的发展，机械手的应用领域也在不断的扩大。在人类社会中，凡是有人类活动的地方，都能看到机械手的身影。机械手产品的应用已经由海洋开发和宇宙探测等高端科学领域向建筑、挖掘甚至是服务娱乐等民用领域发展了，并且各式各样的机械手正在涌现出来，以惊人的速度延伸到人类活动的各个领域。机械手是由于人类生产水平的发展，产品生产质量和生产率的提高而出现的。论文的主要是基于小型PLC的机械手运动控制系统设计，本文中机械手涉及八个动作过程，依次是下降、夹紧、上升、右移、下降、松开、上升、左移。在程序设计时，选用西门子S7-200型PLC,将通过V4.0STEP7MicroWINSP6PLC编程软件来对其工作过程进行编程设计，为了提高机械手的可操作性，还将加入机械手人机界面设计，通过触摸屏来对机械手进行操作，人机界面能更加直观方便的对机械手的运动过程进行控制和实时监控，使用SIMATICWinCCflexible2007人机界面软件来对机械手人机界面进行设计，使用PLC编程控制器和人机界面一起对工业机械手的运动过程进行控制。关键词：机械手；PLC；组态模拟AbstractWiththeprogressofhumanscienceandtechnology,thedevelopmentofsocialeconomy,thefieldofapplicationofmechanicalhandisalsoexpanding.Inthehumansociety,wherethereisaplaceforhumanactivities,canseethefigureoftherobothand.Theapplicationofmanipulatorhasbytheoceanexploitationandexplorationoftheuniverseandotherhigh-endsciencetoconstruction,miningandentertainmentservices,andothercivilianareasofdevelopmentandallkindsofmechanicalhandisIIemerging.Withamazingspeedextendstoallareasofhumanactivity.Manipulatorisduetothedevelopmentofhumanproductionlevel,productqualityandproductivityoftheemergenceoftheincrease.ThemainisbasedonSmallPLCmanipulatormovementcontrolsystemdesign,themechanicalhandinvolveseightactionprocess,followedbydeclineinclamping,rising,shiftedtotheright,down,loosen,up,leftshift.Intheprogramdesign,selectionofSiemensS7-200PLC,willbyv4.0step7microwinSP6PLCprogrammingsoftwareandtheworkingprocessofprogrammingdesign,inordertoimprovethemanipulatoroperation.Willalsojointhemanipulatorman-machineinterfacedesign,throughthetouchscreentothemanipulatorintooperation,theman-machineinterfacecanmoreintuitiveandconvenientofthemanipulatormotionprocessofcontrolandreal-timemonitoring,the2007man-machineinterfacesoftwaretomanipulatorman-machineinterfacedesignusingSIMATICWinCCflexible,togethertoindustrialmachineryhandmovementprocesscontrolusingPLCandman-machineinterface.Keywords:manipulator;PLC;configurationsimulation目录第1章绪论........................................................11.1研究背景及意义...............................................11.2研究现状.....................................................1第2章相关概述................................................32.1机械手.......................................................32.2机械手的基本结构及机械手的种类...............................32.3机械手的整体结构.............................................42.4PLC技术简介.................................................5第3章机械手PLC控制系统设计...................................73.1机械手各部件的设计...........................................73.1.1机械手手爪结构设计.....................................73.1.2机械手手腕结构设计.....................................73.1.3机械手手臂结构设计.....................................83.1.4机械手的机械传动机构设计...............................93.1.5机械手手臂的平衡机构设计…………………………...........93.2机械手控制程序设计....................................
VIP
