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河南理工大学万方科技学院本科毕业设计（论文）中期检查表指导教师： 职称： 副教授 所在院（系）： 教研室（研究室）： 机制教研室 题 目车床上料机械手结构设计学生姓名专业班级 学号一、选题质量：（主要从以下四个方面填写：1、选题是否符合专业培养目标，能否体现综合训练要求；2、题目难易程度；3、题目工作量；4、题目与生产、科研、经济、社会、文化及实验室建设等实际的结合程度）所选题目符合专业培养目标，能够体现综合训练要求；该题目略有难度，工作量比较大；题目与生活贴近，能够解决一定的现实问题，该毕业设计不仅能加强专业知识和技能，同时更能够为今后进入该行业做好准备，及时的发现不足，为今后的事业打下基础，开发的成品网站也能够为同学们今后沟通感情提供一个有效的平台。2、 开题报告完成情况： 1、在指导老师的建议下，查阅并翻阅了大量有关机械手的资料，了解了于此有关的问题的最新资料，并将收集到的资料及相关信息整理备用； 2、初步完成定稿； 3、在实习中收集、分析原始资料，确定设计方案、确定结构； 4、合理设计了动力系统和控制单元系统； 5、完成PLC程序的设计。三、阶段性成果： 1、开题报告已经完成，并已经交给指导老师检查且合格； 2、各个零部件的选择已经完成，零部件的选择均是按照相关标准进行，现正在对各零部件进行计算和校核； 3、图纸绘制工作已经接近尾声，现正对图纸进行检查和修改以确保最终图纸无误。四、存在主要问题：1.某些观点和见解尚未成熟，理论与研究方法存在一些问题，待进一步查阅相关资料；2就问题有针对性地查阅相关资料，还需要进行修改完善；3论证的逻辑不够严密，没有详细实际的数据；4文章的语言文字生涩，有一些错别字，病句，格式不够规范；5图纸绘画的不标准，标注不够清楚，对绘图软件不熟练。五、指导教师对学生在毕业实习中，劳动、学习纪律及毕业设计（论文）进展等方面的评语：指导教师： （签名） 年 月 日2河南理工大学万方科技学院机械设计制造及其自动化专业实习报告河南理工大学万方科技学院毕业实习报告专业：机械设计制造及其自动化班级：姓名：学号：指导老师：目录一、实习目的及意义二、实习任务三、实习时间四、实习地点五、实习企业概况六、实习内容七、毕业设计准备八、总结与评价九、参考文献一、实习目的及意义 机械设计制造及其自动化专业是一门实践性很强的专业，毕业实习是本科教学计划中非常重要的一个教育环节，是学生在校学习期间理论联系实际、增长实践知识、培养自身各方面能力的重要手段和方法。通过实习了解本专业发展前沿，涉猎相关学科知识，使机械设计制造及其自动化专业的学生初步具有科学研究与解决工程实际问题的能力、较强的实践动手能力和创新意识的高级应用型人才。毕业实习是大学本科专业学习中不可缺少的重要部分，通过一段时间的生产实习后，使自己具备足够的技能，应付将来市场的挑战并保持强劲的竞争力，并为下一步的毕业设计打下坚实的基础。二、实习任务认真学习实习大纲，提高对实习的认识，做好思想准备；认真完成实习内容，按规定记实习笔记，撰写实习报告，收集相关资料；三、实习时间 2012年2月至2012年3月四、实习地点 郑州市红星机械厂五、实习企业概况 郑州中原金山机械厂是专业的水磨石机、水磨石设备厂家，水磨石砖机等新型建材设备开发制造的专业生产厂家。 金山机械厂的产品设计充分吸收国内外先进技术水平，并考虑中国国情，将国外先进的制造工艺技术、质量控制技术和中国知名企业的严格管理制度相结合，关键的电控元器件和液压、气动部件采用国际知名品牌和优质产品，以保证向客户提供质量优良、运行可靠的设备，保证客户以最小的投资获取最大的利益。金山机械厂作为水磨石机的专业生产厂家，已建立起金山特色的科研、生产、销售、服务体系，彩瓦机、彩砖机、磨石磨砖机、艺术围栏机、石材设备系列产品，用户遍布全国，出口国外许多国家。理念：诚信、优质、创新诚信：对员工真诚，对客户真诚，重合同、守信誉。优质：拥有优质的员工，向社会提供优质的产品、技术、服务，向职工提供优质的工作环境和福利待遇。创新：追求技术不断进步，产品的不断更新，服务的不断完善。理念：诚信、优质、创新.六、实习内容（一）实习的具体内容我是2012年2月来到河南省郑州市中原金山机械厂的，接待我们的是人事部的孙经理，初次见面，就感觉孙经理是位很和蔼、很亲切的领导。而在接下来的日子里的接触也证实了这点。我们被安排在动力部实习，动力部主要是负责机械维护及其机械维修方面的工作。我们也主要是学习这些方面的知识和相关的工作经验。刚来的时候，我们毕竟没有什么经验，只能跟着师傅学习，在对公司机器修理及维护过程中，自己认真观察各种机器，最直接的就是工艺。对我们即将毕业的人来说，这方面还是很好办的。后面，由于对机器有了了解，我能对产品加工中特定的工艺动作怎么实现的进行思考。这样能加速学习理解和知识的积累。因为我们要常进车间去，所以多车间的生产状况也都有一个大概的了解。金山主要是水磨石机器,水泥瓦机，水磨石砖机,水磨石设备,水磨石机，这其中给我印象最深刻的是成品车间，主要是因为这个车间的设备最容易出现故障，可能是因为它里面的设备比较陈旧吧。当然其他车间有些东西也是要时常要更换的。 这是第一次正式与社会接轨踏上工作岗位，开始与以往完全不一样的生活。每天在规定的时间上下班，上班期间要认真准时地完成自己的工作任务，草率敷衍了事。凡事得谨慎小心，否则随时可能要为一个小小的错误承担严重的后果付出巨大的代价，再也不是一句对不起和一纸道歉书所能解决。工作中我发现做任何事不能单蛮干，应合理应用各种常识来解决问题，同时也要注意团队合作。任何一个厂都有一套严格紧密的生产体系，在体系中每个环节都是紧紧相扣，每个环节的工作人员都应该严格遵守规章制度。年轻不是用来挥霍的，而是我们拼搏的资本。我不想碌碌无为终了此生。我想有个幸福的家庭和人生。所以我会一直朝着我的目标走去。保持一颗乐观豁达，积极进取的心，对生活充满希望，相信“苍天不负有心人”。（二）实习中资料的收集与总结1铸造按曲轴铸造工艺进行2热处理正火3铣两端面总长为265mm铣床4车两端工艺搭子外圆直径45mm车床5钻主轴颈中心孔车床6钻连杆轴颈中心孔正对连杆中心7检验8粗车三个连杆轴颈留余量2.6mm车床七、毕业设计准备一、机械手的工作原理（一）机械手的概述机械手是在机械化、自动化生产过程中发展起来的一种新型装置。近年来，随着电子技术特别是电子计算机的广泛应用，机器人的研制和生产已成为高技术领域内迅速发展起来的一门新兴技术，它更加促进了机械手的发展，使得机械手能更好地实现与机械化和自动化的有机结合。机械手虽然目前还不如人手那样灵活，但它具有能不断重复工作和劳动、不知疲劳、不怕危险、抓举重物的力量比人手大等特点，因此，机械手已受到许多部门的重视，并越来越广泛地得到了应用，例如：（1）机床加工工件的装卸，特别是在自动化车床、组合机床上使用较为普遍。（2）在装配作业中应用广泛，在电子行业中它可以用来装配印制电路板，在机械行业中它可以用来组装零部件。（3）可在劳动条件差，单调重复易子疲劳的工作环境工作，以代替人的劳动。（4）在危险场合下工作，如军工品的装卸、危险品及有害物的搬运等。（5）宇宙及海洋的开发。（6）军事工程及生物医学方面的研究和试验。（二）机械手的工作方式机械手电气控制系统，除了有多工步特点之外，还要求有连续控制和手动控制等操作方式。工作方式的选择可以很方便地在操作面板上表示出来。当旋钮打向回原点时，系统自动地回到左上角位置待命。当旋钮打向自动时，系统自动完成各工步操作，且循环动作。当旋钮打向手动时，每一工步都要按下该工步按钮才能实现。以下是设计该机械手控制程序的步骤和方法。1、机械手传送工件系统示意图，如图1所示。图1 机械手传送示意及操作面控制器如图1所示机械手能实现手动、回复位、单步、单周期和连续等五种工作方式。手动工作方式时，用各按钮的点动实现相应的动作；回复位工作方式时，按下“回复位”按钮，则机械手自动返回原位；单步工作方式时，每按一次起动按钮机械手向前执行一步；选择单周期工作方式时，每按一次起动按钮，机械手只运行一个周期就停下；连续工作方式时，机械手向前执行一步；只要按下起动按钮，机械手就会连续循环动作，直到按下停止按钮，机械手才会最后运行到原位并停下；而在传送工件的过程中，机械手必须升到最高位置才能左右移动，以防止机械手在较低位置运行时碰到其它工件。图2 机械手传送示意及操作动作传送图图3 机械手传送示意及操作动作执行图如图2，3、其功能是将工件从A移送到B处。气动机械手的升降和左右移动分别使用了双线圈的电磁阀，在某方向的驱动线圈失电时能保持在原位，必须驱动反方向的线圈才能反向运动。上升、下降对应的电磁阀线圈分别是YV2、YV1，右行、左行对应的电磁阀线圈分别是YV3、YV4。机械手的夹钳使用单线圈电磁阀YV5，线圈通电时夹紧工件，断电时松开工件。通过设置限位开关SQ1、SQ2、SQ3、SQ4分别对机械手的下降、上升、右行、左行进行限位，而夹钳不带限位开关，它是通过延时1.7s来表示夹紧、松开动作的完成的。二、机械手控制的硬件设计（一）输入和输出点分配表及原理接线图表1 机械手传送系统输入和输出点分配表名 称代号输入名 称代号输入名 称代号输出启动SB1X0夹紧SB5X10电磁阀下降YV1Y0下限行程SQ1X1放松SB6X11电磁阀夹紧YV2Y1上限行程SQ2X2单步上升SB7X12电磁阀上升YV3Y2右限行程SQ3X3单步下降SB8X13电磁阀右行YV4Y3左限行程SQ4X4单步左移SB9X14电磁阀左行YV5Y4停止SB2X5单步右移SB10X15原点指示ELY5手动操作SB3X6回原点SB11X16连续操作SB4X7工件检测SQ5X17表1 机械手传送系统输入和输出点分配表图3、机械手硬件控制连线图（二）控制程序操作系统 操作系统包括回原点程序，手动单步操作程序和自动连续操作程序，如图3所示。图4、机械手操作系统程序其原理是：把旋钮置于回原点，X16接通，系统自动回原点，Y5驱动指示灯亮。再把旋钮置于手动，则X6接通，其常闭触头打开，程序不跳转（CJ为一跳转指令，如果CJ驱动，则跳到指针P所指P0处），执行手动程序。之后，由于X7常闭触点，当执行CJ指令时，跳转到P1所指的结束位置。如果旋钮置于自动位置，（既X6常闭闭合、X7常闭打开）则程序执行时跳过手动程序，直接执行自动程序。回原位程序回原位程序如图4所示。用S10S12作回零操作元件。应注意，当用S10S19作回零操作时，在最后状态中在自我复位前应使特殊继电器M8043置1。图5、回原位状态转移图手动单步操作程序如图5所示。图中上升/下降，左移/右移都有联锁和限位保护。图6、手动单步操作程序自动操作程序自动操作状态转移见图6所示。当机械手处于原位时，按启动X0接通，状态转移到S20，图7、自动操作状态转移图驱动下降Y0，当到达下限位使行程开关X1接通，状态转移到S21，而S20自动复位。S21驱动Y1置位，延时1秒，以使电磁力达到最大夹紧力。当T0接通，状态转移到S22，驱动Y2上升，当上升到达最高位，X2接通，状态转移到S23。S23驱动Y3右移。移到最右位，X3接通，状态转移到S24下降。下降到最低位，X1接通，电磁铁放松。为了使电磁力完全失掉，延时1秒。延时时间到，T1接通，状态转移到S26上升。上升到最高位，X2接通，状态转移到S27左移。左移到最左位，使X4接通，返回初始状态，再开始第二次循环动作。在编写状态转移图时注意各状态元件只能使用一次，但它驱动的线圈，却可以使用多次，但两者不能出现在连续位置上。因此步进顺控的编程，比起用基本指令编程较为容易，可读性较强。7、机械手传送系统梯形图如图7所示。图中从第0行到第27行为回原位状态程序。从第28行到第66行，为手动单步操作程序。从第67行到第129行为自动操作程序。这三部分程序（又称为模块）是图3的操作系统运行的。回原位程序和自动操作程序。是用步进顺控方式编程。在各步进顺控末行，都以RET结束本步进顺控程序块。但两者又有不同。回原位程序不能自动返回初始态S1。而自动操作程序能自动返回初态S2。三、梯形图及指令表（一） 梯形图上升右移上限位夹紧下限位下降状态转移开始自动方式初始状态上限位下降结束上升放松下限位下降右移限位夹紧下降限位下降左行限位左行松开夹紧上升1/2限位右移限位下降右移翻转上升回原位初始状态图8、机械手传送系统梯形图（二）指令表八、总结与评价机械手的控制对于很多场合需求很大，不论是机床使用的小型系统还是流水线上的这类设备，其基本动作要求类似，所以控制的实现也可以相互借鉴。对于控制程序的编写，这里给出的只是一种实现手段，使用可编程控制器还有其他的方法可以实现这样的控制，针对所用的具体系统的情况，设计人员可以选用不同的方法来编写程序。机械手高效的工作效率，准确的定位精度，以及简单的结构及控制方式是人手不能替代的，机械手的使用也将越来越广泛。九、参考文献1 邬依林等：非接触式IC卡在酒店收费系统中的应用J，佛山科学技术学院学报(自然科学版)，2002.2 金伟正等：基于非接触式IC卡、考勤机的研究J，武汉工业学院学报，2001。3 马秀丽等：一种非接触式射频卡、基站读写电路的设计与应用J，金卡工程，2003。4 邬依林等：基于非接触式IC卡收费机的设计J。广东教育学院学报，2OO4。5.何立民：单片机应用系统设计，北京，北京航空航天大学出版社,1995。6 周航慈：单片机程序设计技术，北京，北京航空航天大学出版社.1992。7 沈宇超等：射频识别技术及其发展现状，电子技术应用，1999。8 汪建主编：MCS一96系列单片机原理及应用技术M，武汉：华中科技大学出版社(第2版)，2004。9 沈宇超等：射频识别技术及其发展现状J，电子技术应用，1999。10 李琚门：感应式IC卡系统及其应用J，电子产品世界，2000。17河南理工大学万方科技学院本科毕业论文摘要 本课题是为普通车床配套而设计的上料机械手。工业机械手是工业生产的必然产物，它是一种模仿人体上肢的部分功能，按照预定要求输送工件或握持工具进行操作的自动化技术设备，对现实工业生产自动化，推动工业生产的进一步发展起着重要的作用。因而具有强大的生命力受到人们的广泛重视和欢迎。实践证明，工业机械手可以代替人手的繁重劳动，显著减轻了工人的劳动强度，改善劳动条件，提高劳动生产率和自动化水平。工业生产中经常出现的笨重工件的搬运和长期频率、单调的操作，采用机械手是有效的。此外，它能在高温、低温、深水、宇宙、放射性和其他有毒、污染环境条件下进行操作，更现实其优越性，有着广泛的发展前途。 本课题通过应用autoCAD技术对机械手进行总体方案设计和液压传动原理设计，确定了机械手的坐标形式和自由度，确定了机械手的技术参数。同时，设计了机械手的夹持手部结构，设计了机械手的手腕结构，设计了机械手的手臂结构。他能实际自动上料运动，上料机械手的运动速度是按着满足生产率的要求来设定。关键词：机械手；手部设计；结构设计；Abstract This topic is designed for ordinary lathe supporting the feeding manipulator. Industrial manipulator is the inevitable outcome of the industrial production, it is a kind of imitation upper part of the body, according to the predetermined requirement function of conveying work-piece or operated holding tools to reality technical equipment, automation, promote industrial production automation of the further development of industrial production plays an important role. Thus has strong vitality wide attention by the people and welcome. Practice has proved, industrial robots can replace the hands of heavy labor, significantly reduce the labor intensity of the workers, improve working conditions, and improve labor productivity and automation level. Industrial production in the bulky workpiece often appear handling and long-term frequency, drab operation, using manipulator is effective. In addition, it can be in high temperature, low temperature and deep water, the universe, radioactive and other toxic, environmental pollution condition of operation, the more realistic its superiority, has wide development prospect This topic through the application of manipulator in overall autoCAD technology design and hydraulic transmission principle design of manipulator, sure, and freedom coordinates determined the technical parameters of manipulator. Meanwhile, the design of clamping manipulator hand structure, design of manipulator wrist structure, design of manipulator arm structure. He can actual automatic feeding movement of the manipulator, feeding velocity according to satisfy the requirement is set to productivity. KeyWords：manipulator；handing structure ；structure designII河南理工大学万方科技学院本科毕业论文外文资料与中文翻译外文资料：Visualization of PLC Programs using XMLM. Bani Younis and G. FreyJuniorprofessorship Agentenbased AutomationUniversity of KaiserslautemP. 0. Box 3049, D-67653 Kaiserslautem, Germany Abstract - Due to the growing complexity of PLC programs there is an increasing interest in the application of formal methods in this area. Formal methods allow rigid proving of system properties in verification and validation. One way to apply formal methods is to utilize a formal design approach in PLC programming. However, for existing software that has to be optimized, changed, or ported to new systems .There is the need for an approach that can start from a given PLC program. Therefore, formalization of PLC programs is a topic of current research. The paper outlines a re-engineering approach based on the formalization of PLC programs. The transformation into a vendor independent format and the visualization of the structure of PLC programs is identified as an important intermediate step in this process. It is shown how XML and corresponding technologies can be used for the formalization and visualization of an existing PLC program. I. INTRODUCTION Programmable Logic Controllers (PLCs) are a special type of computers that are used in industrial and safety critical applications. The purpose of a PLC is to control a particular process, or a collection of processes, by producing electrical control signals in response to electrical process- related inputs signals. The systems controlled by PLCs vary tremendously, with applications in manufacturing, chemical process control, machining, transportation, power distribution, and many other fields. Automation applications can range in complexity from a simple panel to operate the lights and motorized window shades in a conference room to completely automated manufacturing lines. With the widening of their application horizon， PLC programs are being subject to increased complexity and high quality demands especially for safety-critical applications. The growing complexity of the applications within the compliance of limited development time as well as the reusability of existing software or PLC modules requires a formal approach to be developed I. Ensuring the high quality demands requires verification and validation procedures as well as analysis and simulation of existing systems to be carried out 2. One of the important fields for the formalization of PLC programs that have been growing up in recent time is Reverse-engineering 3. Reverse Engineering is a process of evaluating something to understand how it works in order to duplicate or enhance it. While the reuse of PLC codes is being established as a tool for combating the complexity of PLC programs, Reverse Engineering is supposed to receive increased importance in the coming years especially if exiting hardware has to be replaced by new hardware with different programming environments Visualization of existing PLC programs is an important intermediate step of Reverse Engineering. The paper provides an approach towards the visualization of PLC programs using XML which is an important approach for the orientation and better understanding for engineers working with PLC programs. The paper is structured as follows. First, a short introduction to PLCs and the corresponding programming techniques according to the IEC 61131-3 standard is given. In Section an approach for Re-engineering based on formalization of PLC programs is introduced. The transformation of the PLC code into a vendor independent format is identified as an important first step in this process. XML and corresponding technologies such as XSL and XSLT that can be used in this transformation are presented in Section IV. Section V presents the application of XML for the visualization of PLC programs and illustrates the approach with an example. The final Section summarizes the results and gives an outlook on future work in this ongoing project. PLC AND IEC 61131 Since its inception in the early 70s the PLC received increasing attention due to its success in fulfilling the objective of replacing hard-wired control equipments at machines. Eventually it grew up as a distinct field of application, research and development, mainly for Control Engineering. IEC 61 131 is the first real endeavour to standardize PLC programming languages for industrial automation. In I993 the International Electrotechnical Commission 4 published the IEC 61131 Intemational Standard for Programmable Controllers. Before the standardization PLC programming languages were being developed as proprietary programming languages usable to PLCs of a special vendor. But in order to enhance compatibility, openness and interoperability among different products as well as to promote the development of tools and methodologies with respect to a fixed set of notations the IEC 61131 standard evolved. The third part of this standard defines a suit of five programming languages: Instruction List (IL) is a low-level textual language with a structure similar to assembler. Originated in Europe IL is considered to be the PLC language in which all other IEC61 131-3 languages can be translated. Ladder Diagram (LO) is a graphical language that has its roots in the USA. LDs conform to a programming style borrowed from electronic and electrical circuits for implementing control logics. Structured Text (STJ is a very powerful high-level language. ST borrows its syntax from Pascal, augmenting it with some features from Ada. ST contains all the essential elements of a modem programming language. Function Block Diagram (FBD) is a graphical language and it is very common to the process industry. In this language controllers are modelled as signal and data flows through function blocks. FBD transforms textual programming into connecting function blocks and thus improves modularity and software reuse. Sequential Function Chart (SFC) is a graphical language. SFC elements are defined for structuring the organization of programmable controller programs. One problem with IEC 61 131-3 is that there is no standardized format for the project information in a PLC programming tool. At the moment there are only vendor specific formats. This is also one reason for the restriction of formalization approaches to single programs or algorithms. However, recently the PLC users organization PLCopen (see ) started a Technical Committee to define an XML based format for projects according to IEC 61131-3. This new format will ease the access of formalization tools to all relevant information of a PLC project. . RE-ENGINEERING APPROACH The presented approach towards re-engineering (cf. Fig.1) is based upon the conception that XML can be used as a medium in which PLC codes will be transformed. This transformation offers the advantage of obtaining avendor independent specification code. (Even if the PLCopen succeeds in defining a standardized format for PLC applications, there will remain a lot of existing programs that do not conform to this standard.) Based on this code a step-wise transformation to a formal model (automata) is planned. This model can then be used for analysis, simulation, formal verification and validation, and finally for the re-implementation of the optimized algorithm on the same or another PLC. Since re-engineering of complete programs will, in most cases, be only a semi-automatic process, intermediate visualization of the code is an important point. At different stages of the process different aspects of the code and/or formal model have to be visualized in a way that a designer can guide the further work. XML with its powerful visualization and transformation tools is an ideal tool for solving this task. IV. XML AS A TOOL FOR VISUALIZATION XML (extensible Markup Language) is a simple and flexible meta-language, i.e， a language for describing other languages. Tailored by the World Wide Web Consortium (W3C) as a dialect of SGML S, XML removes two constraints which were holding back Web developments 6. The dependence on a single, inflexible document type (HTML) which was being much abused for tasks it was never designed for on one side; and the complexity of full SGML, whose syntax allows many powerful but hard-to-program options on the other side. While HTML describes how data should be presented, XML describes the data itself. A number of industries and scientific disciplines-medical records and newspaper publishing among them-are already using XML to exchange information across platforms and applications. XML can be tailored to describe virtually any kind of information in a form that the recipient of the information can use in a variety of ways. It is specifically designed to support information exchange between systems that use fundamentally different forms of data representation, as for example between CAD and scheduling applications. Using XML with its powerful parsers and inherent robustness in terms of syntactic and semantic grammar is more advantageous than the conventional method of using a lexical analyzer and a validating parser (cf. Fig. 2, 7). The conventional method of analysis of program code requires a scanner (lexical analyser) which generates a set of terminal symbols (tokens) followed by a parser thatchecks the grammatical structure of the code and generates an object net. In the object net the internal structure of the program is represented by identified objects and the relations between them. Both the scanner and the parser to be used in this method are document oriented which implies that analysis of different types of documents requires rewriting the generated code for the scanner and the parser. An example of an application of this method can be found in 8. The most promising aspect of using XML instead is that XML and its complementary applications for transformations are standardized so as to provide maximum flexibility to its user. The XML based method is advantageous, since the lexical specification is an invariant component of XML; therefore the well-formedness is independent from the respective individual application. Hence, an XML-Parser also can transfer well-shaped XML documents in an abstract representation called Document Object Model (DOM) without using a grammar. DOM is an application programming interface (APII) for valid HTML and well-formed XML documents. It defines the logical structure of documents and the way a document is accessed and manipulated. In the DOM specification, the term document is used in a broad sense increasingly. XML is used as a way of representing many different kind of information that may be stored in diverse systems, and much of this would traditionally be seen as data rather than as documents. Nevertheless, XML presents this data as documents, and the DOM can be used to manage this data5.XSLT, the transformation language for XML is capable of transforming XML not only to another XML or HTML but to many other user-friendly formats. Before the advent of XSLT, the transformation of XML to any other format was only possible through custom applications developed in a procedural language such as C+, Visual Basic or, Java. This procedure lacked the generality with respect to the structural variation of XML documents. Capitalizing on the concept that the custom applications for the transformations are all very similar, XSLT evolved as a high-level declarative language 9. XSLT functions in two steps. In the first step, it performs a structural transformation so as to convert the XML into a structure that reflects the desired output. The second stage is formatting the new structure into the required format, such as HTML or PDF (cf. Fig. 3 ). The most important advantage of this transformation is that it allows a simple and easily-conceivable representation of the document or data structure embedded inside the well-structured but hard-to-understand XML to be produced. When HTML is chosen as the format of the transformed produce it is possible to use the extensive ability of HTML to produce an easily-conceivable and attractive visualization of a program.Every XML document has its own syntax and vocabulary. Therefore, in addition to being well-formed, the XML document needs to conform to a set of rules. According to W3C recommendations this set of rules has to be defined either through a Document Type Definition (DTD) or an XML Schema. The rules defined in a DTD or an XML Schema state the hierarchical and structural constraints of the XML document. The DTD is for defining the document grammars; more recently a number of alternative languages have been proposed. The W3C XML Schema language replicates the essential functionality of DTDs, and adds a number of features: the use of XML instance syntax rather than an ad hoc notation, clear relationships between schemas and namespaces, a systematic distinction between element types and data types, and a single-inheritance form of type derivation. In other words schemas offer a richer and more powerful way of describing information than what is possible with DTDs. Fig. 4 shows the XML technologies discussed above and the connection between them. V. AN APPROACH FOR THE VISUALIZATION OFPLC PROGRAMSA. Overview Since Instruction List (IL) is the most commonly used PLC language in Europe, the presented approach is based on this language. The proprietary IL dialect Siemens STEP 5 and the standardized version according to IEC 61131-3 are considered.The generation of XML documents showing different aspects of a PLC program is realized in the following three steps (cf. Fig. 5):1. Transformation of the PLC program to an XML document 2.Validation of the XML against the XML Schema which sets the syntax of the XML 3.Identification of the Instruction elements of the transformed XML according to the instruction set of the source PLC These three steps are discussed in sub-sections B to D respectively. Sub-section E explains the visualization of the different XMLs obtained during the preceding steps. Throughout this Section an example is used to illustrate the presented concepts. Fig. 6 shows a PLC code written in Instruction List Siemens S5. The PLC code is written in atabular form where each row element is either a delimited list consisting of address, label, instruction, operand and description or a comment.Kommentar :AutorErstellt :15.07.2003 Geaendert am: B1B:ONETZWERK 1 EMPFANGEN SLAVE 3 VON MASTERNAME :EMPEMAST0005 :U M98.7 ABFRAGE OB EMPFANG MOEGLICH00060007 :SPB= MOOl00080009 :A DB140 EMPFANGSFACH IST DB 140OOOA :L KF+20 LAENGE DES DATENPAKETSoooc :T DLOOOOD :L KF+O ZIELNUMMER O=MASTEROOOF :T DRO00100011 :UNM98.7 FANGEN WIEDER ERLAUBEN0012 :S M98.70013 MOOl :NOP 000140015 :BE BAUSTEIN ENDEFig. 6 A PLC program written in Siemens S5 Instruction ListB. Conversion of a PLC Program inio a well-formed XML Given a PLC program in ASCII format and in a tabular structure with separate columns for addresses, labels, instructions, operands and descriptions delimited by whitespaces, XSLT can convert it into a well-formed XML document. The XML document obtained through this transformation is a hierarchically structured document. Fig. 7 shows the XML document obtained through the transformation of the PLC code of Fig. 6. The XML document is structured in a hierarchy in which the root element is the IL Code Block representing the whole PLC code. Each of the rows of the PLC code is contained within a corresponding ILRow element which is M e r smtctured into child elements. Note: The structure chosen for the XML representation of IL-Code is oriented at the working proposal of the PLCopen.C. XML Validation against the XML Schema The XML obtained as a result of the previous processing can be validated using a validating parser that confirms that the XML document in addition to being well-formed conforms to the set of syntactic rules defined in context of the PLC programming language. D. rdenhpcation of instructions This step in the process of visualization of PLC programs using XML ensures that the XML document to be used for visualization contains only valid instructions.XSLT can be used to transform the well-formed and valid Xh4L to another XML which as a result of identification on instructions has an additional attribute appended to the instruction tags. This attribute notifies whether the instruction is a valid instruction of the concerned instruction set. This transformation procedure is also capable of attaching attributes to the instruction tags that declares a classification of the instructions into predefined classes. The instruction identification of the transformed XML proofs the semantic of the XML in accordance with the operation types of the PLC programming language. In the example of this section, (cf. Fig. 8), the new XML contains additional attributes which classify the instructions according to the type of operation it represents. The STEPS instructions are categorized into eleven different types of operations e.g. logical, jump, load or transfer operation assignment, etc. (Instruction instructionId=Logical Operation)U-.SPB- BEFig. 8 A new transformed XML showing only the inslructions and thecorresponding instruction IDE. Visualization of XMLBoth of the XML documents generated above can be transformed into HTML or other readable documents with the help of XSL. An ingenious XSL can be designed so as to produce an HTML which can convey the logical and other features of the PLC program in an easily conceivable form. Moreover, the DOM structure embedded in the XML (cf. Fig. 9), also enables the user to navigate through the PLC programs in an easy way.For the example the visualization is done in HTML. This visualization is done for the transformed XML after the validation of its syntax as a table where the child elements of the ILRow are the columns of this table. The XML after the instruction identification is transformed using the XSL, where the instruction and the instruction Id, obtained after extracting the XML according to the type of operations are visualized in a table containing two columns (Instruction, Instruction Id) in HTML. The HTML structures suggested here are not the only possibilities, with which the XML can be visualized, but they give a very easy practical option for the users grasp of the PLC code.Fig. IO shows the same PLC code as shown in Fig. 4 as a HTML document converted &om the XML document shown in Fig. 7 using XSL. This visualization enables a better understanding of the PLC program. Fig. 11 shows the special visualization of instruction ids given in the XML of Fig. 6. VI. CONCLUSIONS AND OUTLOOK Re-engineering of PLC programs needs a formal approach to be developed. In this paper one way to solve this task is introduced. Based on a given PLC program written in Instruction List a step-wise transformation to a formal representation is proposed. Since this process will not be fully automatic, the need for flexible visualization of intermediate steps is derived. XML is presented as a flexible, standardized means to serve as data format for the description of the PLC code. The corresponding technology of XSL transformations and the Document Object Model are presented as tools for the variety of customized visualization tasks during the re-engineering process. Based on the XML description of PLC programs further transformations will be applied to finally derive a completely formalized description of the original PLC code. This will be in the form of a finite automaton. During this process it is planned to identify common IL structures and formalize them via a library.Gaining the Benefit of the XML Metadata Interchange (XMI) as an open industry standard that applies XML to abstract systems such as UML and referring to the classification of the instructions of IL into the eleven categories mentioned above. We can extract UML classes from this classification, as it resembles the action semantics of UML可视化的PLC程序使用XML米巴尼尤尼斯和G.弗雷由于P LC程序日益复杂,在PLC应用方面有越来越多的兴趣爱好者。形式化方法，让僵化的证明系统属性被核查和验证。一个传统思路的方法就是在PLC编程中设立一个正式的设计方法。不过，现有的软件已被优化，改变，或移植到新系统.有需要找到从某一PLC程序开始的方法。因此，规范PLC程序是一个现在研究的热点。该文章概述了基于形式化的PLC程序基础上从新启动的方法。转型成为一个独立的格式和可视化的结构，在这个过程中，PLC程序的确定是作为这项措施的重要中间步骤。这表明如何XML和相应的技术可用于形式化和可视化现有的PLC程序。一 导言 可编程逻辑控制器（PLC ）是一种特殊类型的计算机，它应用于工业和安全的关键地方。应用PLC的目的是控制某一特定的或可选择的过程，它是通过产生的电控制信号回应电器中相关的输出信号来实现的。应用在制造业和化工过程控制，机械加工，交通，电力分配，以及其他许多领域。PLC控制有着极大的不同，自动化应用范围的复杂性从一个简单的小组运作到控制一个会议室的的灯光和自动窗成为一个全自动化的生产线。 随着他们应用PLC知识的增加，他们把PLC应用到复杂性和品质要求高的地方，特别是对安全性要求特别严格的地方。由于在有限的时间里PLCD的发展应用日益复杂，现有的软件或PLC的模块也在迅速发展，以此，需要一个正式的办法加以规范 。为了确保高品质的要求，我们需要检查和验证程序，以及分析和模拟现有系统 2 。其中一个重要的领域就是已经在最近的时间成长在规范化的PLC程序是逆向工程 3 。逆向工程是通过评估达到了解它的运转过程，以达到重复或加强的目的。而重用的PLC守则正在建立，作为一种打击复杂PLC程序的工具，逆向工程在今后几年将得到越来越多的重要性，特别是如果现有的硬件被适用于各种不同程序环境的新硬件所取代的情况下。 现有的PLC程序的可视化是逆向工程一个重要的中间步骤。本文章提供了一个方法，使用XML使PLC程序可视化，让PLC程序工程师更容易把握方向和更好地了解。 该文件的结构如下。首先，简单的介绍了PLC（根据国际电工委员会61131-3的标准是给予）和相应的编程技巧，。在第三部分，在现有基础上用形式化PLC程序重新设计方法的介绍。PLC代码转型成为一个独立的格式被确定为在这个过程中重要的第一步。XML和相应的技术，例如XSL和XSLT（第四节可以使用的这种转变）。第五部分提出了应用XML的使PLC程序可视化的方法并用一个例子做出说明。最后一节总结了结果，并就今后的工作在这方面正在进行的项目做了一个前景的展望。 二 PLC和IEC 61131 自从七十年代初期公布于世，由于它的成功的完成目的，取代了机器上的硬连线控制设备，PLC日益受到重视，。最终它作为一个独特的应用领域成长起来，它的研究和开发，主要是为控制工程。 IEC61131是为工业自动化第一次真正的努力来规范PLC的编程语言。在1993国际电工委员会 4 上公布了IEC 61131作为可编程控制器标准。在标准化PLC的编程语言之前，正在制定为了个别PLC实用的专有编程语言。为了提高不同产品的兼容性，开放性和互操作性以及为了促进工具和方法的发展,国际电工委员会61131标准设立固定的一套符号。第三部分，定义了一个适合5种编程语言标准： Originated (IL)语言是一种低层次的文本语言,其结构类似于汇编语言。Originated语言L被视为PLC的在所有其他IEC61 131-3语言都可以翻译语言。 梯形图(L0)是一种被认为起源于于美国的图形语言。LDS符合从电子及电器电路实施控制逻辑的编程风格。 结构化文本（ ST）是一个非常强大的高层次的语言。圣借从帕斯卡尔那里借用了它的语法，充实它的一些特点。圣包含一个现在编程语言多要求的所有要素。 功能块图（FBD）是一种图形语言，在工业流程里是非常常见的。在这种语言中，控制器被认为是可在功能块之间流动的信号和数据。FBD把换文本编程转变为功能块编程，因而提高了模块化和软件重用性。 顺序功能图（SFC）是一个图形化的语言。SFC要素的定义是为了构建可编程序控制器程序的组织。 其中在IEC 61 131-3中出现的一个问题就是在PLC的编程工具的工程信息中没有一个标准化的格式。目前，每个厂商都在运用他们各自的具体的不同格式。这亦是其中一个原因就是被限制了的形式化的做法，以单一的程序或算法。不过，最近的PLC用户组织PLCopen （见 ）阻止了一个技术委员会，以确定一个基于格式accordingto的IEC 61131-3的XML项目 。这种新格式将缓解形式化的工具，使之成为 PLC项目的所有相关的信息。 三 重新设计的方法 对于重新设计所提出的态度，（参见图1 ）是基于认为XML可作为一种中间媒体语言用来改造PLC的代码。 这种转变提供了取得avendor独立规格代码优势，。 （即使PLCopen成功地确定了一种标准化的格式为PLC所应用，仍将有很多现有的程序不符合这个标准） 。 在此代码基础上的一个明智步骤转型到一个正式的模型（自动机）正在计划之中。这个模型可以用来进行分析，模拟仿真，正式的检查和验证，最终对同一PLC或其他产品重新执行该优化算法。 一个很大的可能就是这个完成编程的逆向启动只能是一个半自动的过程，中间可视化的代码是最重要的一点。在过程中的不同阶段，代码或形式化模型不同方面的都必须是可视化的设计方式，只有这样设计者才可以进一步的指导工作。XML以其强大的可视化和改造工具，成为解决这方面的工作的一种理想的工具。 四 作为一种可视化工具的XML XML （可扩展标记语言）是一种简单而灵活的元语言，即一种描述其他语言的语言。由万维网协会（ W3C ）裁定（W3C）作为一个方言SGML分支语言， XML的删除两个阻碍网络发展 6 制约因素。依赖于一个单一的，一成不变的文件类型（ HTML ），这种文件类型中大部分被滥用任务，这是从来没有设计为对一方有利。充满了SGML的复杂性，他的语法，让许多强大的并且努力到计划方案到了另一个方向。 当HTML描述了数据本身是怎样显现的同时， XML描述了数据本身。一些行业和学科、医疗记录及报纸出版，其中已使用XML交换信息，可以跨多个平台来应用。在一个信息获取人可以使用各种不同的方式形式下，XML可可裁定描述几乎任何种类的信息。它是专门设计用于支持从根本上使用不同形式的数据的系统之间的信息交流，例如民航处及调度之间的应用。使用拥有强大的解析器和固有的简单性的条款XML，句法和语义语法比常规词汇分析器和验证分析器的使用更有利，（参见图2 .7 ） 。 常规的程序代码分析方法需要一个扫描仪（词法分析仪）由剖析器检查语法结构的代码产生了一套终端符号（令牌），并生成一个对象网。在该对象的内部结构的程序代表的确定对象和两者之间的关系。双方扫描器和分析器将使用的这种方法是面向文件的，这就意味着，分析不同类型的文件，需要重新生成的代码为扫描仪和分析器。一个应用这种方法的方法的例子
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