喷漆机械手的PLC控制系统设计论文.doc

南京城市职业学院毕业设计说明书 PAGE PAGE 1 喷漆机械手的PLC控制系统设计 摘 要 喷漆是产品生产中的重要环节，但在传统的喷漆工艺方面，许多企业还在采用手工的方法，工人完全凭经验进行喷漆。由于工人的熟练程度和生产经验的差异，再加上疲劳程度和工作态度的影响，难以保证喷漆质量的稳定。另外，由于工作条件恶劣影响着工人身体健康，因此利用机械手喷漆进行改造传统喷漆工艺是十分必要的。可编控制器（PLC）具有体积小，抗干扰能力强，组态灵活等优点，在工业控制系统中的到非常广泛的应用。本文是基于5自由度喷漆机械手来进行分析，比较了几种常用的PLC控制器，着重在于选择一种指令简单、使用灵活的PLC作为该机器人的控制器，使用步进电机作为驱动装置，对机器人进行了运动学分析和整体控制方案的设计，同时完成了PLC控制器的接线图、功能顺序表图、绘制正式的梯形图，编写程序代码。 关键词：机械手喷漆，可编控制器，驱动装置，控制系统 Abstract Spraying is the product of an important part in the traditional spraying process, many companies are still using manual methods, workers use their experience to carry out spraying. As the level of skilled workers and production experience the difference, combined with fatigue and work attitude, it is difficult to ensure the stability Spraying quality. In addition, because of poor working conditions affecting the health of workers, the use of the robot to carry out spray paint to transform the traditional process is essential. Programmable Logic Controller( PLC) with a small, strong anti-interference capability, flexible configuration, etc., in industrial control systems to a very wide range of applications. This article is based on 5 degrees of freedom robot to paint analysis, comparison of several commonly used controller PLC, the focus is to choose a simple instruction, the use of flexible PLC as the robot controller, using as a stepping motor-driven devices, Kinematics of the robot to carry out the analysis and control of the overall design, the PLC controller at the same time to complete the wiring diagram, map function in the order form, drawing an official of the ladder, the programming code. Keywords: Spraying Robot，Programmable Logic Controller ，Drives ,Control System 目录 摘要2 绪论5 1.1喷漆机械手的研究背景6 1.2PLC的介绍7 1.3任务要求和选择依据10 第二章 方案设计13 2.1轨迹规划13 2.2计算空间轨迹点的坐标13 2.3电机对应每点的移动量15 2.4移动过程18 第三章 PLC的实现过程20 3.1 PLC的选型20 3.2喷漆机械手的功能表图25 3.3喷漆机械手的梯形图32 3.4喷漆机械手的指令表45 第四章 喷漆机械手的总结53 参考文献54 第一章 绪论 1．1喷漆机械手的研究背景 在我国发展喷漆机器人（图1.1）, 前景非常广阔, 据有关部门不完全统计, 全