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韶 关 学 院

毕 业 设 计

题 目：基于PLC的物料分拣机械手自动化控制 系统设计

学生姓名：陈 浩 学 号：12101102015

系 （院）：物理与机电工程学院自动化系 专 业：自动化专业 班 级：2012级2班

指导教师姓名及职称：韩竺秦 讲师 起止时间：2015年 10 月— 2016年 5 月

基于PLC的机械手分拣控制系统设计

摘 要：在现今的生活上,科技日新月益的进展之下,机械手在先进制造领域中扮演着极其重

要的角色。它可以搬运货物、分拣物品、代替人的繁重劳动，可以实现生产的机械化和自动化，能在有害环境下操作以保护人身安全。机械手臂的应用也将会越来越广泛,机械手是近几十年发展起来的一种高科技自动生产设备，作业的准确性和环境中完成作业的能力。因此被广泛应用于机械制造、冶金、电子、轻工和原子能等部门。

结合近年来整个机械手的发展,并分析了机械手系统和机械手方面的设计，提出了用气动驱动和PLC控制设计方案。考虑了软、硬件各自的特点，对物料分拣机械手的整体结构、驱动系统、执行结构和控制系统进行了分析和设计，我们可以采用整体化的设计思想并进行互补和优化。在气动驱动和PLC控制设计方案中，其驱动系统中采用气动驱动，控制系统中选择PLC的控制单元来完成系统功能的初始化、机械手的移动、故障报警，分拣等功能。我们很容易得出了一种简单、易于实现、理论意义明确的控制策略。

通过以上部分的分析,得出了经济,实用,高可靠的材料分拣机械手设计方案,对于其他经济的PLC控制系统的设计也有一定的参考价值。

关键词: 机械手；触摸屏（HMI）；可编程控制器（PLC）；自动化控制；物料分拣

Automatic sorting line PLC control system design

Abstract: In today's life, science and technology, the development of the new moon, the

manipulator in the advanced manufacturing field plays an extremely important role, it can carry goods, sorting goods, can realize the mechanization and automation of production, can be used to protect the safety of human body, the application will be more and more widely.The application of mechanical arm is also more and more extensive. The machine is a kind of high-tech automatic production equipment which has been developed in recent decades. It is widely used in machinery manufacturing, metallurgy, electronics, light industry and atomic energy.

In this paper, based on the development of mechanical hand in recent years, combined with the design of the manipulator, the mechanical hand technology is analyzed, and the design scheme of pneumatic drive and PLC control is proposed.Using the holistic design idea, considering the characteristics of the software and the hardware, the software and the hardware are complementary and optimized.The whole structure, drive system, the structure and control system of the material sorting manipulator are analyzed and designed.In its drive system, the control system of the PLC control unit is used to complete the initialization of the system function, the movement of the manipulator, the fault alarm, the sorting and other functions.At last, a simple, easy to implement, and the theoretical significance of the control strategy is proposed.

Through the work above, it is concluded that the economic, practical, high reliable material sorting manipulator design scheme, the design of PLC control system in other economic type also certain reference value.

Keywords：manipulator ; touch screen (HMI);programmable logic controller (PLC); automatic

control;sorting materials