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1、 基于 PLC 及 MCGS 组态的机械手模型控制系统的设计姓 名: 学 院: 专 业: 班 级: 学 号: 指导教师: 完成时间: I基于 PLC 及 MCGS 组态的机械手模型控制系统的设计摘 要在工业生产和其他领域内,由于工作的需要,人们经常受到高温、腐蚀及有毒气体等因素的危害,增加了工人的劳动强度,甚至于危及生命。自从机械手问世以来,相应的各种难题迎刃而解。在本设计中介绍了国内外机械手研究现状及 PLC 的研究发展趋势,描述了机械手控制系统的工作原理和动作实现过程。研究了基于 PLC 的机械手模型控制系统的设计,还研究了 MCGS 在机械手控制系统中的应用。利用组态软件 MCGS 设计
2、了机械手模型控制系统监控界面,提供了较为直观、清晰、准确的机械手运行状态,进而为维修和故障诊断提供了多方面的可能性,充分提高了系统的工作效率。关键词关键词:机械手;PLC;MCGS IIDesign of Manipulator Model Control System based on PLCAbstractIn industrial production and other domains, Because of the demands of the work, people were usually subjected to endanger of heat, decay and poi
3、sonous air etc. factor, these factors increased the strength of workers labor, even endanger life. Since the manipulator was born, the various difficult problems were easily solved.In this design the present condition of research about domestic and international manipulator and development trend of
4、research concerning PLC were introduced. The principle of work and the process of actions realization of manipulator control system were described. The design of manipulator model control system based on PLC was researched and MCGSs application in the manipulator model control system was researched.
5、 The interface of supervision for the manipulator model control system was designed by MCGS. An intuitive, clear and accurate manipulator operating state was provided. And then various possibilities for maintain and breakdowns diagnosis were provided, the works efficiency of system was fully elevate
6、d.Key words: manipulator; PLC; MCGS目目 录录摘 要.Abstract.第一章 绪 论.11.1 课题研究目的及意义.11.2 国内外机械手研究概况.11.3 课题研究的内容.2第二章 机械手控制方式的选择和可编程序控制器简介.32.1 机械手控制方式的选择.32.1.1 控制方式的分类.32.1.2 PLC 与工业控制计算机(IPC)和集散控制系统(DCS)的比较.32.1.3 机械手控制方式的选定.42.2 可编程序控制器简介.52.2.1 PLC 的结构.52.2.2 PLC 的特点.62.2.3 PLC 的主要功能.72.2.4 PLC 的经济分析.72.2.5 PLC 发展状况及趋势.8第三章 机械手模型控制系统的设计.93.1 机械手控制系统构件概述.93.1.1 步进电机.93.1.2 步进电机驱动器.93.1.3 传感器.113.1.4 直流电机驱动单元.123.2 机械手的动作实现过程.123.3 PLC 程序设计.143.3.1 I/O 点数的确定及 PLC 类型的选择.143.3.2 PLC 的 I/O 分配.143.3.3 编程指令的选择.143.3.4 PLC 程序的设计.153.4 PLC 程序的调试.