-机械手监控

本科毕业设计(论文)题目：机械手PLC控制系统监控组态设计院（系）电子信息工程学院专业电气工程及其自动化班级120422姓名葛万超学号120422107导师苗荣霞2016年6月I基于组态软件的机械手PLC控制系统设计摘要机械手应用于不同的作业场合，尤其是在特殊的环境背景下，它为人类生产活动的高效进行带来了很大的方便和益处，特别是在工业以及军事领域内。在实际的生产实践，普遍存在着很多不便让人类操纵的环节，比如是在工作环境十分危险的状况下，这就需要使用具有远程控制功能的机械手，这样就可以增加系统的安全性，最大化的节约损耗，提高生产效率。由此可见，在自动化、工业化进程中，机械手的使用已经成为一种必不可少的技术要求。在本次毕业设计中简单地介绍了机械手在国内外的研究及使用现状，了解了PLC的发展进程。学习了机械手控制系统的工作原理，叙述了机械手的运动过程。研究了基于可编程控制器（PLC）的机械手控制系统的设计，学习了组态软件（MCGS）在机械手控制系统中的应用。利用组态软件MCGS形象的设计了机械手控制系统的监控界面，把机械手的运行情况准确、清晰、直观的呈现出来了。从而为维修、故障诊断提供了很多方面的可能性，实现工作效率的最大化。关键词：机械手；PLC；MCGSIIManipulatorPLCcontrolsystemdesignbasedonconfigurationsoftwareAbstractManipulatorusedindifferentjobsituations,especiallyinthespecialenvironmental.Itisfortheefficientconductofhumanactivitieshasbroughtgreatconvenienceandbenefits,particularlyintheindustrialandmilitaryfields.Inactualproductionpractice,theprevalenceofalotofinconveniencesothathumanmanipulationlink,suchasintheworkenvironmentisaverydangeroussituation,whichrequiresusingaremotecontrolrobot,sothatyoucanincreasethesecurityofthesystem,tomaximizelossofsavings,improveproductionefficiency.Thus,inautomation,theprocessofindustrialization,theuseofrobottechnologyhasbecomeanessentialrequirement.InthisgraduationdesignbriefintroductiontoarobotinthestudyanduseofthestatusquoathomeandabroadtounderstandthedevelopmentprocessofthePLC.Theworkingprincipleoflearningrobotcontrolsystem,describedthemovementoftherobot.Researchbasedontheprogrammablecontroller(PLC)robotcontrolsystemdesign,learningtheconfigurationsoftware(MCGS)usedinrobotcontrolsystem.MCGSconfigurationsoftwareimageofthedesignoftherobotcontrolsystemmonitoringinterface,theoperationoftheManipulator’saccurate,clearandintuitivepresenteditself.Soastomaintenance,faultdiagnosisoffersthepossibilityofmanyaspects,tomaximizeefficiencyKeywords:manipulator;PLC;MCGSi目录摘要.................................................................................................................................................IAbstract......................................................................................................................................II1绪论...........................................................................................................................................11.1概述...................................................................................................................11.2课题研究背景及意义.......................................................................................11.3本课题在国内外研究现状及发展..................................................................21.4本课题研究主要内容......................................................................................22机械手的简介.....................................................................................................................32.1机械手的概述...................................................................................................32.2机械手的组成...................................................................................................32.3机械手的工作原理...........................................................................................32.4机械手的驱动方式...........................................................................................43机械手的控制方案设计................................................................................................53.1机械手的工艺要求...........................................................................................53.2机械手的控制方案...........................................................................................53.3机械手的动作实现...........................................................................................53.4机械手的工作方式...........................................................................................73.5机械手的动作流程...........................................................................................74控制系统下位机设计.....................................................................................................94.1下位机设计概述...............................................................................................94.1.1可编程控制器.........................................................................................94.1.2PLC的组成...........................................................................................104.1.3PLC的应用现状..................................................................................104.2硬件设计.........................................................................................................114.2.1机械手各关节位置的驱动方式...........................................................114.2.2控制系统主回路...................................................................................12ii4.2.3执行机构各部件的选型.......................................................................114.2.4PLC的选型...........................................................................................124.2.5PLC的I/O分配表................................................................................134.2.6PLC的I/O接线图.....................................................................