机械手控制系统设计.doc

摘要 伴随着机电一体化在各个领域的应用，机械设备的自动控制分显得越来越重要，及有毒气体等因素的危害，增加了工人的劳动强度，甚至于危机生命机械手就这样诞生了本论文选用西门子（SIEMENS）公司S7-200系列的可编程控制器PLCCPU22机械手的开关量信号直接输入PLC，对电磁阀加以控制,The manipulator control system is based on PLC ABSTRACT With mechanical and electrical integration’s application in all areas, automatic control is playing a more and more important role in mechanical equipment, as a result of the need of work, people is often affected by factors such as high temperature, corrosive and toxic gases harm, and it increases the labor intensity of workers, and even life-threatening, so the manipulator appears. Along with the development of the PLC and sensing technology, mechanical assembly work ability also will rises further, more important is that the safety of the manipulator is high,it saves manpower, and improves the efficiency and quality, extends the life of the machine,prevents the mould damaged, reduces the product defective rate, saves material, reduces costs, so as to it fundamentally changes the present state of manual operation of mechanical system. This paper selects the SIEMENS companys S7-200 series PLC CPU226 ，firstly it makes manipulator’s switch signal input directly , and it can control electromagnetic valve,then control the hydraulic system, and finally all movements of the manipulator will be driven by a hydraulic system to complete the workpiece handling between the two tables, manipulator includes left and right sides, move up and down and workpiece clamping and relaxation of six action process, and it can achieve three manual, single action and automatic operation process, including automatic and single action in the PLC program call the same subroutine manipulator can be automatically run and stop state, manual calls a subroutine to realize manual operation and stop state, but when the system fails or at the same time dynamic automatic, manual according to the order of any two buttons will appear, the alarm signal happens, and also can make the manipulator motion stop