摘要：机械手广泛的用于机械加工自动线物流系统,是自动线中的重要装备之一。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。搬运机械手具有自动化程度高、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。伴随着机电一体化在各个领域的应用，机械设备的自动控制成分显得越来越重要，由于工作的需要，人们经常受到高温、腐蚀及有毒气体等因素的危害，增加了工人的劳动强度，甚至于威胁生命。因此机械手就在这样条件下诞生了,机械手是工业机器人系统中传统的任务执行机构，是机器人的关键部件之一。本课题根据控制要求进行该机械手的PLC控制系统的硬件设计、PLC编程及模拟调试，使得机械手完成规定的功能。通过本毕业设计，掌握 PLC在真实企业控制项目中的应用方法，掌握自动控制系统完整的分析设计过程，培养解决类似工程问题的实际能力。56837
关键词：可编程控制器PLC；机械手
The manipulator based on PLC control system design
Abstract ：Handling machinery is widely used in mechanical processing automatic linelogistics system, it is one of the important equipment in automatic line. Handling machinery ismainly used for the movement of parts or finished products in fixed position, instead ofmanual work, especially in the toxic, flammable and explosive and other harsh environment,has been widely used. Mechanical handling hand is high degree, flexible action, instead ofmanual operation, accelerate the production cycle, greatly improve the production efficiencyand product quality of manufacturing enterprises. Industrial use of the handling of largemechanical hand larger, expensive. With the application of electromechanical integration invarious fields, automatic control component of mechanical equipment is increasinglyimportant, due to the need to work, people are often subjected to the harm of high temperature,corrosive and toxic gases and other factors, increases the labor intensity of workers, and even life-threatening. So manipulator is born in this way, the manipulator is the traditional taskexecution mechanism in the industrial robot system, and it is one of the key parts of the robot.According to the control requirement of this manipulator PLC control system hardware design,PLC programming and simulation debugging, make the manipulator to complete theprescribed function.Through this graduation design, to grasp the method of control project,the application of PLC in the real business, master the automatic control system for thecomplete analysis and design process, cultivating the practical ability to solve the problem ofthe similar projects.
Keywords: Programmable controller PLC; manipulator
目 录
1. 绪论1
1.1 机械手概述..1
1.2 机械手的组成和分类2
1.2.1 机械手的组成...2
1.2.2 机械手的分类...4
1.3 机械手的应用.. 4
1.4 本课题的研究目的和意义. 5
1.5 本课题研究内容... 5
2. 机械手的 PLC控制设计.6
2.1 机械手控制要求... 6
2.2 可编程控制器（PLC）的概述 7
2.3 可编程控制器的应用领域. 8
2.4 PLC 的结构，种类和分类.. 9
2.5 PLC 的工作原理... 9
2.6 I/O 接口简介. 11
3. 机械手控制系统的硬件设计 12
3.1 硬件设计原则 12
3.2 PLC 选型12
3.3 机械手控制系统相关硬件选型.13
3.3.1 接近开关传感器.13
3.3.2 行程开关介绍14
3.4 PLC 外部接线图.. 14
4．机械手的程序设计.. 17
4.1 顺序功能图18
4.2 总程序设计19
5. 结论...27 PLC机械手控制系统设计+梯形图:http://www.youerw.com/zidonghua/lunwen_61415.html