搬运机械手及其控制系统设计.doc

. IABSTRACT . . IV . 11.1 . 11.2 . 2 . 42.1 . 42.1.1 . 42.1.2 . 42.1.3 . 52.1.4 . 52.1.5 . 6 . 73.1 . 73.2 . 83.2.1 . 83.2.2 . 83.2.3 . 93.2.4 . 103.2.5 . 113.2.6 . 123.2.7 . 123.2.8 . 123.2.9 . 143.2.10 . 18 3.2.11 . 223.2.12 . 25 . 28 PLC . 305.1 . 305.2 I/O . 305.3 PLC . 315.4 PLC . 32 . 37 . 38 . 39 20 S7-200 Abstract Over the past 20 years, the field of pneumatic technology expand rapidly,which is widelyused in a diverse array of automated production line especially.The combine of electricalprogrammable technology and pneumatic control technology makes the whole system a higherdegree of automation, more flexible control and more reliable performance;The rapid develop ofpneumatic manipulator and flexible automated production lines requier much more to thedevelopment of pneumatic technology .This topic originated from the handling station of the production line;The drive is used pressuretransmission, which uses a variety of cylinder to control the robots movement and the controlparts combining the programmable control technology make a programme to achieve the controlof the transportation between the two places.Manipulator is competed by three major parts including hand, sports bodies and controlsystem. Task of hand is to hold the workpiece (or tool) of the components.According to thegrasping objects shape, size, weight, materials and operating requirements the hand hands avariety of structural forms, such as clamp type, ADS holders and adsorption type and so on.Themovement part can complete the prescriptive move and achieve the change of the site and gesture of the grasping objects by varies rotating(twisting),moving or complex movements on hand. Theindependence movements such as the rise and fall of body, stretching and rotating manner arecalled the free degrees of manipulator. The handling manipulator of the topic compositesfour free degrees which are rotation, stretching, lifting and clapingThe pneumatic manipulator design is desided from three parts in chuding the mechanicalparts, pneumatic parts and control parts,which requires to achieve mechanical hand up and downbetween the handling function. Focus on the mechanical parts are the design of overall structure ,the choice of each cylinder and installation design, structural design of various components etc;pneumatic part is given the pneumatic manipulator handling schematics, and the control part ofthe procedure was mainly design and debugging,The papers use Siemens (S7-200) instructionsprogram,giving the corresponding ladder diagram, statement forms and simple flow chart.Because the pneumatic Manipulator has advantages of simple structure, easy to achieve thestepless speed regulation, easy to achieve overload protection, easy to achieve a number ofcomplex movements,the pneumatic manipulator is developing to the repeat-high-precision,modular, non-oil and electrical integration direction. It is foreseeable that in the near future,pneumatic manipulator will become more and more widely used into the industrial, military,aviation, medical, and other areas of life.Keywords:PLC, flexible automated production lines, free degree, Ladder Diagram 1.1 20 ,(),PLCa. b. c. d. PLCa. b. c.d. e. f. 1.2 :a. ()9110.39765b. :; c.PC;:d.;e.f. g.9480;13030():;200.8636000 : 2.1 :();. 2.1.1 2.1.2 1. 23.50500mm/s4.300056.7. 2.1.3 PLCPLCS7-200CPU226PLCIOPLCPLCPLC24V24V(STEP 7-MicroWINV44) 2.1.4 a.1kg1kgb.100mm/s450/s80m/s90/s 2.1.5 A.:a) 1()b) 4c) 279mmd) 684.5mmB. 50mm 50mn/s 100mm 100mm/s 0180 90/sC.:40mmD.E.0.5mmF.G.H.(PLC) 3.1 :30,/ /, /()ABBA3-13-1 1 www.88d