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洛阳理工学院毕业设计（论文）I基于PLC的机械手动作监控系统设计摘要工业生产随着科学技术的发展而发展，工业生产上机电一体化的应用越来越多，机械设备中的自动控制成分越来越重要。由于有些工人在工作的时候经常受到高温、低温或有害气体的危害，甚至危及生命。这些工作不得不用机器代替，因此机械手就诞生了。机械手是机器人的关键部件，在自动化车间中可以运送物料和工艺的操作。机械手通过可编程控制器的编程，按照控制要求完成各种规定的动作,可以提高加工精度、提高生产效率、降低成本。本文根据PLC的工业控制和计算机监控的相关理论，按照工业机械手动作的控制要求，完成了其运动控制的设计以及组态监控系统的设计，对控制系统的各个流程即总体结构、控制流程以及构成系统模块进行了研究。本次设计采用的可编程控制器为：S7-200系列。关键词：机械手，PLC，监控洛阳理工学院毕业设计（论文）IIDesignofmanipulatormotioncontrolsystembasedonPLCABSTRACTIndustrialproductiondevelopswiththedevelopmentofscienceandtechnology.Asaresult,theapplicationofmechanotronicscanbefoundmoreandmoreeasilyinindustrialproduction.Besides,theautomaticcontrolcomponentsalsobecomeincreasinglyimportant.Itisafactthatsomeworkersarealwayssufferedfromthehightemperatures,lowtemperaturesandevensomeharmfulgases.Thesefactorsmayevendogreatharmtotheirlives.Thiskindofworkmustbedonebymachinessothatthemachinehandisproduced.Themachinehandisthekeycomponentoftherobot.Itcandeliverthematerialandoperatethemachineduringtheindustrialproduction.Themachinehandiscontrolledbyprogrammablecontrolleranddoestheactionsaccordingtheorderswhichithasaccepted.Itcanimprovetheaccuracy,increasetheproductivityandreducethecosts.BasedonthetheoryofindustrialcontrolandcomputermonitoringofthePLCandthecontrolrequirementsofindustrialrobotmovement,thedesignandconfigurationofthemonitoringsystemdesignofitsmotioncontrol,processcontrolsystemsfortheindividualarecompleted.Theoverallstructureofthecontrolprocessandconstitutesystemmoduleswerestudiedatthesametime.Theprogrammablecontrollerwhichthedesignusesis:S7-200.KEYWORDS:Manipulator,PLC,Monitor洛阳理工学院毕业设计（论文）III目录前言................................................................................................1第1章绪论......................................................................................31.1机械手的概述.......................................................................31.2国内外机械手的发展...........................................................31.2.1机械手发展..................................................................31.2.2机械手的分类..............................................................41.3可编程控制器（PLC）........................................................61.3.1可编程逻辑控制器介绍...............................................61.3.2可编程逻辑控制器的发展过程...................................61.3.3PLC硬件系统组成......................................................61.3.4PLC工作原理..............................................................71.4课题研究的意义...................................................................7第2章系统的硬件设计...................................................................92.1控制要求................................................................................92.2主电路设计............................................................................92.3硬件的选型..........................................................................102.3.1PLC的选型................................................................102.3.2限位开关....................................................................122.3.3开关按钮....................................................................122.3.4电气元件明细表........................................................122.4I/O分配表及其端子接线图................................................132.4.1I/O分配表..................................................................132.4.2PLC的外部接线图....................................................13第3章系统软件设计.....................................................................143.1工作流程图.........................................................................143.2顺序功能图.........................................................................143.3梯形图................................................................................173.4编程软件.............................................................................21洛阳理工学院毕业设计（论文）IV3.4.1STEP7—Micro/WIN32简介......................................213.4.2STEP7—Micro/WIN32使用......................................23第4章组态....................................................................................254.1组态的介绍..........................................................................254.1.1组态概述...................................................................254.1.2组态发展、功能和特点............................................254.2组态画面设计......................................................................264.2.1组态的画面................................................................264.2.2设备和变量的定义....................................................304.2.3动画连接....................................................................324.3组态程序..............................................................................33第5章硬软件调试.........................................................................345.1程序调试..............................................................................345.2组态演示..............................................................................35结论..............................................................................................39谢辞..........................