机电一体化电气自动化机械手毕业设计

目录第1章设计课题...................................................................................................错误!未定义书签。第2章设计目的.........................................................................................................................................1第3章课题任务的控制要求.................................................................................................................5第4章PLC外部硬件连接线..................................................................................................................9第5章输入输出点地址分配...............................................................................................................10第6章顺序功能图..................................................................................................................................11第7章梯形图程序..................................................................................................................................12第8章指令语句表..................................................................................................................................12第9章模拟调试的过程和出现问题的分析..................................................................................15第10章调试程序所用的试验设备.....................................................................................................15第11章毕业设计的体会.........................................................................................................................18第12章参考文献.......................................................................................................................................193．课题任务的控制要求机械手移动工作动作示意图如图1所示。机械手需要将工件从工作台A移送至工作台B上，其动作过程为下降、上升、右移、再下降、在上升、左移。这些动作均由电磁阀控制液压系统来驱动完成。此外，机械手在夹送工件右行到位后，如果工作台B上的工件尚没运走，机械手则停止运动，待工作台B上的工件被运走后，机械手才能下降。操作时，机械手分为手动操作方式、回原点操作方式、单步点动操作方式、单周期操作方式、自动循环操作方式。4．PLC外部硬件连接图5．输入输出点地址分配表1：工件传送机械手的输入/输出（I/O）点分配表输入信号名称代号输入点编号上限位行程开关ST1I0.0下限位行程开关ST2I0.1左限位行程开关ST3I0.2右限位行程开关ST4I0.3下降点动按钮SB1I0.4上升点动按钮SB2I0.5左移点动按钮SB3I0.6右移点动按钮SB4I0.7夹紧工件点动按钮SB8I2.1放松工件点动按钮SB9I2.2回原点点动按钮SB5I1.5手动操作方法选择开关SA1-1I1.0回原点操作方式选择开关SA1-2I1.1单步（点动）操作方式选择开关SA1-3I1.2单周期操作方式选择开关SA1-4I1.3自动循环操作方式SA1-5I1.4全自动启动按钮SB6I1.6全自动停止按钮SB7I1.7表2：工件传送机械手的输入/输出（I/O）点分配表输出信号名称代号输出点编号上升电磁阀YV1Q0.0下降电磁阀YV2Q0.1左移电磁阀YV3Q0.2右移电磁阀YV4Q0.3夹紧电磁阀YV5Q0.4原点指示灯HLQ0.56．顺序功能图7．梯形图程序8．指令语句表ORGANIZATION_BLOCK主程序:OB1TITLE=程序注释BEGINNetwork1//原点指示灯LDI0.2ANQ0.1AI0.0=Q0.5Network2//手动操作方式选择开关LDI1.0JMP1Network3//回原点操作方式选择开关LDI1.1JMP2Network4//单步点动操作方式选择开关LDI1.2JMP3Network5//单周期操作方式选择开关LDI1.3JMP4Network6//自动循环操作方式选择开关LDI1.4JMP5Network7//手动操作方式LBL1Network8//夹紧与松开LDI2.1OQ0.4ANI2.2=Q0.4Network9//机械手下降LDI0.4ANI0.1=Q0.1Network10//机械手上升LDI0.5ANI0.0=Q0.0Network11//机械手左移LDI0.6ANI0.2=Q0.3Network12//机械手右移LDI0.7ANI0.3=Q0.2Network13//回原点操作方式LBL2Network14//i1.5为启动按钮LDI1.5OM2.2=M2.2Network15//机械手上升LDNI0.1AM2.2=Q0.1Network16//机械手左移LDNI0.3AM2.2=Q0.3Network17//松开电磁阀LDM2.2RQ0.4,1Network18//单步点动操作方式LBL3Network19//i6.0为点动按钮，计数器开始计数LDI6.0EULDT37OSM0.1CTUC1,8Network20//机械手下降LDW=C1,1ANI0.1=Q0.1Network21//机械手夹紧LDW=C1,2=Q0.4Network22//机械手上升LDW=C1,3ANI0.0=Q0.0Network23//机械手右移LDW=C1,4ANI0.3=Q0.2Network24//机械手下降LDW=C1,5ANI0.1=Q0.1Network25//机械手松开LDW=C1,6RQ0.4,1Network26//机械手上升LDW=C1,7ANI0.1=Q0.0Network27//机械手左移LDW=C1,8LPSANI0.2=Q0.3LPPTONT37,100Network28//单周期操作方式LBL4Network29LDI1.3SS0.0,1Network30LSCRS0.0Network31//机械手下降LDSM0.0ANI0.1=M1.1Network32//夹紧和开始计时LDI0.1=M1.5TONT37,10Network33//跳转LDT37SCRTS0.1Network34SCRENetwork35LSCRS0.1Network36//机械手上升与夹紧LDSM0.0LPSANI0.0=M1.3LPP=M1.6Network37//计时LDI0.0TONT38,10Network38//跳转LDT38SCRTS0.2Network39SCRENetwork40LSCRS0.2Network41//机械手右移与夹紧LDSM0.0LPSANI0.3=Q0.2LPP=M1.7Network42//计时LDI0.3TONT39,10Network43//跳转LDT39SCRTS0.3Network44SCRENetwork45LSCRS0.3Network46//机械手下降与夹紧LDSM0.0ANI2.0ANI0.1=M1.2=M2.0Network47LDI0.1TONT40,10Network48LDT40SCRTS0.4Network49SCRENetwork50LSCRS0.4Network51//机械手上升LDSM0.0ANI0.0=M1.4Network52LDI0.0TONT41,10Network53LDT41SCRTS0.5Network54SCRENetwork55LSCRS0.5Network56//机械手左移LDSM0.0ANI0.2=Q0.3Network57SCRENetwork58//机械手下降LDM1.1OM1.2=Q0.1Network59//机械手上升LDM1.3OM1.4=Q0.0Network60//机械手夹紧LDM1.5OM1.4OM1.7OM2.0=Q0.4Network61LBL5Network62//启动自动循环操作LDI1.6SS0.0,1Network63LSCRS0.0Network64//机械手下降LDSM0.0ANI0.1ANI1.7=M1.1Network65LDI0.1=M1.5TONT37,10Network66LDT37SCRTS0.1Network67SCRENetwork68LSCRS0.1Network69//机械手夹紧与上升LDSM0.0LPSANI0.0ANI1.7=M1.3LPP=M1.6Network70LDI0.0TONT38,10Network71LDT38SCRTS0.2Network72SCRENetwork73LSCRS0.2Network74//机械手夹紧与右移LDSM0.0LPSANI0.3ANI1.7=Q0.2LPP=M1.7Network75LDI0.3TONT39,10Network76LDT39SCRTS0.3Network77SCRENetwork78LSCRS0.3Network79//机械手夹紧与下移LDSM0.0ANI2.0ANI0.1LPSANI1.7=M1.2LPP=M2.0Network80LDI0.1TONT40,10Network81LDT40SCRTS0.4Network82SCRENetwork83LSCRS0.4Network84//机械手上升LDSM0.0ANI0.0ANI1.7=M1.4Network85LDI0.0TONT41,10Network86LDT41SCRTS0.5Network87SCRENetwork88LSCRS0.5Network89//机械手左移LDSM0.0ANI0.2ANI1.7=Q0.3Network90LDI0.2TONT42,10Network91//跳转到s0.0从而实现循环执行程序LDT42SCRTS0.0Network92SCRENetwork93//机械手下降LDM1.1OM1.2=Q0.1Network94//机械手上升LDM1.3OM1.4=Q0.0Network95//机械手夹紧LDM1.5OM1.4OM1.7OM2.0=Q0.4END_ORGANIZATION_BLOCKSUBROUTINE_BLOCKSBR_0:SBR0TITLE=子程序注释BEGI