基于PLC的机械手精确定位与控制系统设计

Design of PLC-based Precise Positioning and Control System for Robotic Manipulator

该文根据系统控制需求,选用西门子S7-200型PLC作为系统的控制器,主要从控制系统的硬件结构、软件设计和人机监控界面三个方面加以论述。首先根据控制要求完成了机械手控制系统的硬件设计,分为气动抓取单元、电机驱动单元和机械传动结构三个部分,同时完成了对机械手控制系统的其他辅助单元,如自动上料单元、物料传送单元、伺服转盘单元和触摸屏控制面板的设计;然后在硬件结构的基础上结合控制功能,按照生产工艺顺序控制的特点编程实现机械手的精确定位功能,实现了系统从上料、运输到机械手的抓取、定位等一系列功能的控制;最后利用组态王完成了控制系统人机界面的设计,使操作人员远离工作现场仍能实时监控系统的工作状态,实现了系统的远程监控。

Siemens S7-200-PLC is chosen to design manipulator system as controller,according to the control requirements. This article addresses the control system of hardware,software and man-machine control interface.First of all,the hardware is designed based on the requirement;it includes pneumatic grasp,motor drive and mechanical transmission structure.Then automatic feeding,material-transferring,servo rotary table and touch screen are the assistant design.In accordance with the hardware,the paper completes the system from feeding,transportation to crawl.The last king-view completes the final design of man-machine interface,so that operators can control system far away from the field.