基于触摸屏的机械手人机界面设计

论文编号:ZD855    论文字数:14208,页数:57

摘  要
 这次毕业设计是以触摸屏为控制界面。控制面板采用的是触摸屏软件GP-PRO/PBⅢ，通过触摸屏与机械手及S7－200 PLC的连接实现机械手的手动X轴前进、手动X轴后退、手动Y轴上升、手动Y轴下降、手动气夹正转、手动气夹反转、手动基座正转、手动基座反转、手动紧急停车、复位、手动气夹张开、手动气夹夹紧等功能。采用德国西门子公司生产的小型可编程控制器S7－200 PLC，它具有良好的可扩展性、价格低廉、指令功能强大、十分适合机械手控制系统中的应用。采用S7-200 PLC为CPU 224CN它有14个输入点和10个输出点。机械手实物教学模型的机械结构采用滚珠丝杆、滑杆、气缸、气夹等机械部件组成；电气方面有步进电机、步进电机驱动器、传感器、开关电源、电磁阀等电子器件组成。编程方面采用顺序控制来编程，先画出流程图，然后一步一步编程，子程序需要个PLC控制步进电机程序。最后加一个手动控制机械手的程序，并做出面控制面板来。通信并把程序下载到PLC上，实现用控制面板手动控制机械手。

关键词：触摸屏、可编程控制器PLC、机械手、步进电机驱动器、步进电机

Abstract
The graduation project is to control the touch-screen interface. Control Panel is based on touch-screen software GP-PRO/PB Ⅲ, through the touch screen and the mechanical hand and the S7-200 PLC connection manual manipulator X-axis forward, manually back X-axis, Y axis increased manual, manual Y-axis drop folder is transferred manually gas, gas folder manually reverse, manual base is to manually reverse the base, manual emergency stop, reset, open the folder manually gas, gas folder manually clamping functions. Germany's Siemens company used small Programmable Logic Controller S7-200 PLC, it has good scalability, low cost, powerful commands, is very suitable for robot control system. S7-200 PLC used for the CPU 224CN it has 14 input and 10 output points. Kind of teaching model manipulator mechanical structure of the use of ball screw, slider, cylinder, gas and other mechanical components folder; Electric has stepping motor, stepper motor drives, sensors, switching power supply, solenoid valve components and other electronic devices. Order to control the use of programming to programming, to draw flow chart, and then step-by-step programming, subroutines need a PLC program to control stepper motor. Finally, an additional manual control procedures manipulator, and made to face the control panel. Communications and to download to the PLC, the realization of the control panel with manual control manipulator.

Keywords：Touch Screen，Program Logic Controler, mechanical hand, stepper motor driver, steppes motor

目 录
摘要……………………………………………………………………………....………………Ⅱ
1 绪论……………………………………………………………………………..………………1
1.1  研究背景及意义………………………………………………………………….……..1
1.2  主要研究内容……………………………………………………………………...........1
1.3  本设计拟解决的主要问题…………………………………………………….....……..2
2  总体设计方案…………………………………………………………………………….....3
 2.1  机械手控制系统设计概述……………………………………………………………...3
 2.2  系统工艺流程…………………………………………………………………………...5
3  机械手控制系统简介………………………………………………………………………6
 3.1  触摸屏概述………………………………………………………………………….….6
  3.1.1  触摸屏简介……………………………………………………………………....6
  3.1.2  触摸屏的工作原理………………………………………………………………6
  3.1.3  触摸屏特点………………………………………………………………………6
  3.1.4  触摸屏的主要类型………………………………………………………………7
 3.2  GP触摸屏…………………………………………………………………………...…10
  3.2.1  GP2301S触摸屏简介……………………………………………………...…...10
  3.2.2  GP2301S和PLC的通信方式……………………………………………...…...13
  3.2.3  GP2301S工程文件………………………………………………………...…...14
 3.3  PLC概述………………………………………….………………………………...….15
  3.3.1  可编程控制器的产生……………………………………………………. .…...15
  3.3.2  可编程控制器的特点………………………………………………………......15
  3.3.3  PLC的应用………………………………………………………………...…...15
  3.3.4  PLC在本系统中的应用…………………………………………………….....16
 3.4  西门子系列PLC介绍………………………………………………………………..16
  3.4.1  S7--200 PLC工作原理………………………………………………………...16
  3.4.2  S7--200 PLC技术特点………………………………………………....………17
 3.5  机械手控制系统结构……………………………………………………..…………...17
4  机械手控制系统人机界面设计……………………………………………….....……..19
 4.1  系统开发环境………………………………………………………………………..19
 4.1.1  S7--200……………………………………………………………………….19
 4.1.2  GP2301S……………………………………………………………………….19
 4.2  触摸屏控制的人机界面的设计、功能及调试………………………………………19
 4.2.1  触摸屏控制画面的设计………………………………………………………19
 4.2.2  触摸屏控制画面的功能………………………………………………………26
 4.2.3  触摸屏控制画面的传输………………………………………………………27
4.3  基于S7—200的机械手的控制………………………………………………………..31
 4.3.1  机械手控制点地址分配………………………………………………………31
 4.3.2  触摸屏控制点地址分配……………………………………………………....33
 4.3.3  PLC控制机械手的顺序功能图……………………………………………….34
5  总结…………………………………………………………………………………………..35
致谢…………………………………………………………………………………………….....36
参考文献………………………………………………………………………………………...37
附录：S7-200的机械手控制系统程序梯形图…………………………………………...38