With the application of mechatronics in various fields, the automatic control components of mechanical equipment become more and more important. Due to the need of work, people are often hurt by high temperature, corrosion, toxic gases and other factors, which increases the labor intensity of workers and even threatens their lives. Therefore, the manipulator was born. Manipulator is a traditional task execution mechanism in industrial robot system and one of the key components of robot. Among them, industrial manipulator is a new technology in the field of modern automatic control, and its development is due to its positive role being recognized more and more: it can partially replace manual operation; According to the requirements of production technology, complete the transportation and loading and unloading of workpieces according to certain procedures, time and place; Machines and tools needed for welding and assembly can be manufactured, thus greatly improving workers' working conditions, significantly improving labor productivity and accelerating the pace of mechanization and automation of industrial production. This design uses Mitsubishi Q series PLC as the controller to control and monitor the industrial manipulator.

Key words: PLC operator; servomotor

catalogue

Abstract 1

Abstract 2

1 Introduction 1

1. 1 research significance analysis and its significance 1

1.2 development trend and advantages of manipulator 2

1.3 design requirements of manipulator based on PLC 2

2 PLC structure, working principle and system design 4

2. 1 PLC structure 4

2.2 Main components of PLC 5

2.3 the working principle of PLC 6

2.4 Cyclic scanning technology 6

2.5 PLC programming tool 7

2.6 composition, design principles and steps of PLC control system 8

2.7 PLC control system development trend 9

Structure and working principle of 3 manipulator 1 1

3. 1 Development trend and characteristics of manipulator

3.2 composition of robot 12

3.3 Basic Operation of Robot 13

3. 3. 1 basic operation of robot 13

3.3.2 Project Teaching 14

3.3.3 Program Editing 15

3.3.4 Basic Operation Supplement of Robot 18

4 Hardware Circuit Design 19

4. 1 main hardware 19

4. 1. 1 robot 19

4. 1.2 PLC 19

4.2 Auxiliary Hardware 26

4.2. 1 filter 26

Fuse 27

4.3 Circuit Design 27

5 Programming 29

5. 1 PLC programming 29

5.2 Robot Program 34

6 Conclusion 37

Confirmation 38

Reference 40

1 thread theory

Programmable logic controller (PLC) has been widely used in the automatic control of industrial production process. It is a general automatic control device with microprocessor as the core and integrating computer technology, automatic control technology and communication technology. It has a series of advantages such as simple structure, easy programming, superior performance, high reliability, flexibility and versatility, and convenient use. Pneumatic technology is also an important means to realize industrial automation, which has been widely used in various industrial departments and plays an important role in mechanical product automation, industrial automation and technological transformation of enterprises. The medium of pneumatic conveying comes from air, which has little environmental pollution and is easy to realize. Manipulator has been well applied in industrial automation production, which can reduce repeated operations by people and complete operations that people can't complete, thus greatly improving industrial production efficiency.