摘 要
搬运机器手普遍的用于机器加工自动线物流体系，是自动线中的主要设备之一。搬运机械手主要用于零部件或成品在固定位置之间的移动，替代人工作业，特别是在有毒的、易燃易爆等恶劣环境内，得到广泛应用。搬运机械手具有动化程度高、动作灵活的特点，替代人工作业，加快了生产节拍，大幅度地提高了制造企业的生产效率和产品质量。工业上用的搬运机械手体积较大，价格昂贵。为了满足教学上的需要，设计一种小巧、灵活控制的小型搬运机械手具有重要的意义。
本设计应用了西门子编程软件，在研究机械手工作原理和工艺流程的基础上，进行了控制方案的分析与I/O建立，并开发了机械手的手动和自动控制子程序。应用仿真软件进行机械手控制系统的仿真调试，达到预期效果。
机械手是能够模仿人手动作，并按设定程序、轨迹和要求代替人手抓（吸）取、搬运工件或工具或进行操作的自动化装置，它能部分的代替人的手工劳动。较高级型式的机械手，还能模拟人的手臂动作，完成较复杂的作业。在机械制造业中，机械手已被广泛应用，从而大大地改善了工人的劳动条件，显著的提高劳动生产率，加快实现工业生产机械化和自动化的步伐。
关键词:机械手；自动化；可编程控制器
Abstract
The handling manipulator is widely used in the automatic line logistics system of mechanical processing, which is one of the most important equipment in the automatic line. The manipulator is mainly used for moving parts or products between fixed positions instead of manual operation, especially in toxic, flammable, explosive and other harsh environments. The conveying manipulator has the characteristics of high mobility and flexible action, instead of manual operation, which accelerates the production rhythm and greatly improves the production efficiency and product quality of manufacturing enterprises. The handling manipulator used in industry is large and expensive. In order to meet the needs of teaching, it is of great significance to design a small and flexible manipulator with small and flexible control.
Design applications Siemens programming software STEP 7, we carried out the analysis of the control scheme and establish the I/O list, then I develop the manual control and automatic control program of Manipulator. Finally, we simulate the robot control system simulation debugging, All these work depend on the simulation debugging, then achieved the effect we have expected.
Manipulator is to be able to imitate hand movement, and according to set program, locus, required substitute manpower to grab (inhale), take things or tool or the automation installation that operated, it can be partial to replace the handwork labor of person. The manipulator of higher level type can still imitate the arm movement of person，completes more complex work. It has been widely used in machinery manufacturing industry, which greatly improved the working conditions of workers, significantly improved labor productivity, and accelerate the pace of mechanization and automation of industrial production.
Keywords:Design of Manipulator；Automation；PLC
目 录
摘 要 I
Abstract II
目 录 III
第1章 绪论 1
1.1 研究背景及意义 1
1.2 机械手研究现状 1
1.3 机械手发展方向 2
1.4 待解决主要问题 2
第2章 小型搬运手总体方案设计 4
2.1 总体方案论证 4
2.1.1 小型搬运机械手手臂结构方案设计 4
2.1.2 小型搬运机械手驱动方案设计 4
2.1.3 小型搬运机械手控制方案设计 5
2.2 PLC 慨况 5
2.2.1 PLC的结构及基本配置 7
2.2.2 PLC的选型 9
2.2.3 PLC的工作过程 10
2.3小型搬运机械手简介 13
第3章 西门子STEP7软件介绍及气动部分设计 15
3.1STEP7软件介绍 15
3.1.1 STEP7软件基本功能 15
3.1.2 SIMATIC S7系列标准工具软件 15
3.1.3 STEP7软件用途 16
3.1.4 STEP7软件模块 19
3.1.5 程序中调用分层结构 21
3.2小型搬运手气动设计 22
第4章 PLC控制部分设计 25
4.1 电磁铁动作顺序 25
4.2 I/O分配 26
4.3 PLC控制梯形图 27
4.3 PLC控制程序指令 27
总 结 32
参考文献 33
致 谢 34
