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本科生毕业设计（论文）I摘要为工业机械手研制一个技术性能优良的控制系统，对于提高工业机械手的整体技术性能来说具有十分重要的意义。本论文正是针对这一课题，选择了可编程控制器(PLC)作为工业机械手的控制系统，这对提升工业机械手的整体技术性能起到了良好的作用。本论文的控制对象是由三个搬运机械手组成的机械手群，每个机械手完成八个基本动作，三个机械手互相配合动作。机械手由气缸驱动，气缸受电磁阀控制。限位开关检测机械手是否到达固定位置。可编程控制器(PLC)控制每个机械手的动作，实现机械手群的自动运行。本论文可编程控制器(PLC)选用西门子（SIEMENS）公司S7–200系列的CPU224，并扩展了EM221数字量输入模块和EM222继电器输出模块。机械手的开关量信号直接输入PLC，PLC通过中间继电器对电磁阀加以控制。在软件上，设计了主程序和子程序。主程序控制机械手群动作，子程序控制每个机械手动作。本论文的重点放在PLC各硬件部分的设计和介绍、PLC梯形图的编写上。在整体设计过程中按照“提出问题，分析问题，解决问题”的主导思想，对整个系统的设计工作做出了细致的阐述。关键词：可编程控制器(PLC)；气动机械手；梯形图；CPU224；本科生毕业设计（论文）IIAbstractDevelopsatechnicalperformancefinecontrolsystemfortheindustrymanipulator,regardingenhancestheindustrymanipulator'soveralltechnicalperformancetohavetheextremelyvitalsignificance.Thepresentpaperispreciselyinviewofthistopic,choseprogrammablelogicalcontroller(PLC)totaketheindustrymanipulator'scontrolsystem,thistopromotedtheindustrymanipulator'soveralltechnicalperformancetoplaythegoodrole.Thepresentpapercontrolledmemberisbythreethemanipulatorgroupwhichtransportsthemanipulatortobecomposed,eachmanipulatorcompleteseightelementaryactions,threemanipulatorscoordinatethemovementmutually.Themanipulatoractuatesbytheaircylinder,aircylindersolenoidvalvecontrol.Thelimitswitchexaminesthemanipulatorwhetherarrivesthestationaryposition.Theprogrammablelogicalcontroller(PLC)controlseachmanipulator'smovement,realizesthemanipulatorgroupautomaticmovement.Presentpaperprogrammablelogicalcontroller(PLC)selectsSIEMENSCorporationS7–200seriesCPU224,andexpandedtheEM221numeralquantityloadmoduleandtheEM222relayoutputmodule.Manipulator'sswitchquantitysignaldirectinputPLC,PLCcontrolsthroughtheintermediaterelaytothesolenoidvalve.Onthesoftware,hasdesignedthemasterroutineandthesubroutine.Themasterroutinecontrolsthemanipulatorgroupmovement,thesubroutinecontrolseachmanipulatortoact.ThepresentpaperkeypointplacesthePLCvarioushardwarepartthedesignandtheintroduction,inthePLCtrapezoidalchartcompilation.Deferstointheoveralldesignprocess“asksthequestion,theanalysisquestion,solvestheproblem”theguidingideology,hasmadethecarefulelaborationtotheoverallsystemdesignworkKeywords：ProgrammableLogicalController(PLC)；AirOoperatedMmanipulator；TrapezoidalCchart；CPU224；本科生毕业设计（论文）III目录第1章绪论..........................................................................................................11.1机械手的概念...........................................................................................11.2气动机械手的简介...................................................................................11.2.1气动技术........................................................................................11.2.2气动机械手....................................................................................21.2.3气动机械手的发展趋势................................................................3第2章方案论证....................................................................................................42.1机械手的设计...........................................................................................42.1.1气动搬运机械手的结构................................................................42.1.2气动搬运机械手的工作原理........................................................42.2气动搬运机械手群...................................................................................52.2.1气动搬运机械手群结构................................................................52.2.2气动搬运机械手群工作原理........................................................62.3本论文的主要内容及达到的目标...........................................................62.4本系统的控制方案...................................................................................6第3章系统硬件电路的设计................................................................................83.1PLC的简介................................................................................................83.1.1可编程控制器的概念.....................................................................83.1.2PLC的应用领域.............................................................................83.1.3PLC的系统组成.............................................................................93.1.4PLC的工作原理...........................................................................113.2输入/输出信号........................................................................................133.3PLC的选型..............................................................................................153.4I/O地址分配............................................................................................173.5PLC外部接线..........................................................................................193.6电气控制原理.........................................................................................23第4章软件设计..................................................................................................244.1机械手1控制程序.................................................................................244.2机械手2控制程序.................................................................................274.3机械手3控制程序........................................................................