北京理工大学珠海学院 2020 届本科生毕业论文基于 PLC 控制的分拣机械手设计--软件设计基于 plc 控制的分拣机械手设计—软件设计摘 要为满足生产需求，设计一款以固定程序抓取，搬运物件的机械手，来取代人力，减少生产成本，加快生产速率。因考虑到功能，经济以及操作难度上的种种因素，选择设计由 plc 控制的分拣机械手。利用 plc 程序，使各电磁阀动作，以气压传动为驱动方式，改变气缸，配合极限位置的限位开关，准确而又循环的连续操作实现。同时为方便检测程序以及模拟监控机械手工作，用组态王工程配合组态变量，组成组态画面，做出监控系统界面，监控模拟机械手工作。在结构设计，监控界面，plc 程序都完成后进行的离线模拟调试，证实该机械手能达到设计所预期的效果。关键词：机械手；plc；气动；组态王北京理工大学珠海学院 2020 届本科生毕业论文PLC-based control sorting manipulator designlAbstractIn order to meet the needs of production, a manipulator is designed to grasp and carry objects in a fixed procedure, which can replace manpower, reduce production costs and speed up production. Considering various factors of function, economy and operation difficulty, we choose to design the sorting manipulator controlled by PLC. By using the PLC program, the solenoid valves are operated, the pneumatic transmission is used as the driving mode, the cylinder is changed, the limit switch at the limit position is matched, and the accurate and cyclic continuous operation is realized. At the same time, in order to facilitate the detection program and the work of the simulation monitoring manipulator, the configuration screen is composed with the configuration variables of Kingview project to make the interface of the monitoring system and monitor the work of the simulation manipulator. After the completion of the structure design, monitoring interface and PLC program, the off-line simulation debugging proves that the manipulator can achieve the desir...
