基于PLC的自动搬运气压控制系统研究毕业设计说明书_带仿真设计.doc

基于PLC的自动搬运气压控制系统研究 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。为了更好地将PLC技术和气动传动技术进行有机的结合，将其各自的特点充分的发挥和利用，设计出能够减轻劳动强度，减少人力劳动和危险的产品，特提出本课题，对基于PLC的自动搬运气压控制系统进行设计。 本论文的控制对象是一个气动搬运机械手，机械手完成八个基本动作。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)控制机械手的动作，实现机械手的自动运行。本次论文采用德国的西门子公司生产的S7–200PLC。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Step7上，设计主程序和子程序，并实现主程序控制机械手群动作，子程序控制每个机械手动作。 本论文的重点应当放在PLC各硬件的了解和梯形图的设计上，通过实现基于PLC的气动控制来达到学习、巩固所学知识的目的。 关键词：可编程控制器（PLC）；自动搬运；气压控制；梯形图 Based on the PLC in the automatic handling pressure control system research Abstract Develops a technical performance fine control system for the industry manipulator, regarding enhances the industry manipulators overall technical performance to have the extremely vital significance. In order to better organic combination of PLC technology and pneumatic drive technology, the characteristics of each full play and use design to reduce labor intensity, reduce human labor and dangerous products, especially the introduction of this subject, based on PLC automatic handling pressure control system design. The present paper controlled member is by the manipulator group which transports the manipulator to be composed, each manipulator completes eight elementary actions. The manipulator actuates by the air cylinder, air cylinder solenoid valve control. The limit switch examines the manipulator whether arrives the stationary position. The programmable logical controller (PLC) controls each manipulators movement, realizes the manipulator group automatic movement. Present paper programmable logical controller (PLC) selects SIEMENS Corporation S7–200. Manipulators switch quantity signal direct input PLC, PLC controls through the intermediate relay to the solenoid valve. On the software, has designed the master routine and the subroutine. The master routine controls the manipulator group movement, the subroutine controls each manipulator to act. The present paper key point places the PLC various hardware part the design an