发布时间 : 星期二 文章基于PLC和组态王的气动机械手监控毕业论文更新完毕开始阅读
本科生毕业设计
毕业设计题目 基于FX2N及组态王的气动机械手监控 学 生 姓 名 所 在 学 院 **学院 专业及班级 测控技术与仪器 指 导 教 师 *** 完 成 日 期 年 月 日
摘 要 在工业生产等相关领域内，会有一些高温、腐蚀及有毒气体出现在工作环境中，危害了操作人员的健康，增加了工人的劳动强度。而机械手可以解决这些问题。机械手可在空间抓、放、搬运物体，动作灵活多样，从而替代人工操作，适用于可变换生产品种的中、小批量自动化生产。
本毕业设计任务主要通过PLC完成对一个5自由度的机械手模型控制，使其完成一系列的生产动作过程，并使用组态王软件对机械手进行监控，将机械手的动作过程进行了动画显示。设计所使用的机械手系统(TVT-99D)是由三菱FX2N-48MT PLC主机、机械手(滚珠丝杆、滑轨)、Syntron 42BYG250C步进电机及其驱动器、传感器、光电编码器、气动元件等组成，可实现机械手的上下移动、左右移动、底盘旋转及手爪旋转、抓放等动作。主要采用了步进顺序控制及步进控制技术。涵盖了可编程控制技术，位置控制技术、检测技术等，是机电一体化的典型代表。
设计报告首先介绍了机械手控制方式的选择和所选择方式的简介；其次介绍了应用PLC设计机械手的步骤；还介绍了PLC机械手的程序调试；最后介绍了应用组态王对机械手监控的过程，包括画面绘制、数据变量的设置等。
【关键词】: 机械手 PLC 滚珠丝杠 步进控制
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Abstract
In industrial production and other domains, something like high temperature,
corrosion and poisonous gas appear at workplace, which would increased worker's labor intensity and even endangers their health. With manipulator used, those difficult problems can be easily solved. Hand operation can be replaced by manipulator operation, because it can grab, put, move objects flexibly and changefully. So it can be applied to transform the production of variety of medium and small-volume automated production.
The task of the graduation design is to control a mechanical hand model with 5
degrees of freedom by PLC, and use it to complete a series of actions. The KINGVING is used to monitor the mechanical hand, and change its movement into animations. The system(model: TVT-99D) I used is composed by MITSUBISHIS FX2N-MT PLC, mechanical hand(ball screw, slide rail), Syntron 42BYG250C step motor and its driver module, sensor, photoelectric encoder ,pneumatic component and so on. It controls manipulator move vertically or horizontally, chassis or paw rotate, pack-and-place. The design mainly uses stepping sequence control and stepping control technology. The process covers programmable control technology, position control technology, detection technology, which is a typical representative of mechatronics.
The design report firstly describes how to choose the way to control the mechanical hand and introductions of the ways. Then introduces the design steps. It also introduces program test of the manipulator. At last, the paper introduces the steps of processing and monitoring manipulator by KingView.
【Key words】: mechanical hand PLC ball screw step control
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目录
一、 绪论 ....................................................................................................... 1
（一） 课题研究目的及意义 ........................................................................................................... 1
（二） 国内外机械手研究概况 ........................................................................................................ 1
1.国内方面 .................................................................................................................................. 1 2.国外方面 .................................................................................................................................. 2
二、 机械手控制方式选择 ............................................................................... 3
（一）机械手常用控制方法 ............................................................................................................. 3
1．控制方式的分类 .................................................................................................................... 3 2.机械手控制方式的选定 ............................................................................................................ 4
（二）PLC简介 ............................................................................................................................... 5
1.PLC组成 .................................................................................................................................. 5 2.PLC的特点 .............................................................................................................................. 6 3. PLC的主要功能 ...................................................................................................................... 6 4. PLC的经济性分析 .................................................................................................................. 7 5.PLC的应用领域及发展状况 .................................................................................................... 7
（三）组态王简介 ............................................................................................................................ 8
1.仿真的基本方法 ....................................................................................................................... 8 2.组态王软件特点 ....................................................................................................................... 8