摘要：20世纪50年代，AGV、柔性制造系统、PLC相继出现。目前，PLC以其可靠性高、适应能力强、灵活通用、使用方便、维护简单的特点，在很多方面，已经得到广泛的使用；AGV由于具有行动快捷、工作效率高、结构简单、可控性强、安全性好等优势，已经成为生产物流系统中最大的专业分支之一；柔性制造系统有设备利用率高、在制品减少80%左右、生产能力相对稳定、产品质量高、运行灵活、产品应变能力大等特点，也逐渐受到人们的关注。

　　　本文基于西门子S7-200PLC，将AGV、柔性制造系统和PLC三者相结合，完成由AGV运送到指定位置的工件，通过机械手，把工件搬运到皮带，并皮带传送之前完成对黑白两个颜色的的工件做出区分，最后再把不同颜色的工件分别送到相对应的货仓内。首先学习西门子编程方法，了解了西门子PLC的接线方式，编写出能够控制机械手和皮带的程序；然后再利用工业组态模拟现场的工作流程；最后完成PLC与组态王的通讯，让组态王能够利用PLC程序对整个物料的运输、搬运、分辨颜色、分装的程进行监控，完成将AGV、PLC和柔性制造系统相结合。

关键词：柔性制造系统；AGV ；搬运；装配；分拣；PLC设计

ABSTRACT:In the 1950s, AGV, flexible manufacturing systems, PLC arise. At present, the PLC with its high reliability and flexibility, flexible gm, use convenient, simple maintenance characteristic, in many respects, has been widely used; AVG due to its act faster, high working efficiency, simple structure, controllable strong advantages and good safety, has become the largest production logistics system of professional one branch; Flexible manufacturing systems have equipment utilization rate, reduce around 80 percent in products, production capacity relative stability and high quality, flexible operation, product strain capacity wait for a characteristic, also gradually got the attention of people. 

This paper based on Siemens s7-200 PLC, will AGV, flexible manufacturing systems and PLC, finish by combining the three AGV shipped to specify the location of the manipulator, workpiece, through the workpiece handling to the belt, and belt transmission of black and white completed before the two colors, finally distinction between work-piece respectively the different colors of workpiece to corresponding warehouse inside. Learn first understand the Siemens programming method, the Siemens PLC wiring way, compile can control manipulator and the belt program; Then reuse on-site work dustrial control configuration simulation process; Finally finish PLC and kingview communications, let kingview can use PLC program to the material transportation, handling, distinguish color and packaging process monitoring, the completion will AGV, PLC and flexible manufacturing system combined 

Key words: flexible manufacturing system；Automated Guided Vehicle；            handling；assembly；sorting； PLC design