【正文】 本科生畢業(yè)設(shè)計(jì) 畢業(yè)設(shè)計(jì)題目 基于 FX2N 及組態(tài)王的氣動(dòng)機(jī)械手監(jiān)控 學(xué) 生 姓 名 *** 所 在 學(xué) 院 **學(xué)院 專業(yè)及班級(jí) 測(cè)控技術(shù)與儀器 指 導(dǎo) 教 師 *** 完 成 日 期 年 月 日 **大學(xué)本科生畢業(yè)設(shè)計(jì)（論文） I 摘 要 在 工業(yè) 生產(chǎn)等相關(guān)領(lǐng)域內(nèi)，會(huì)有一些高溫、腐蝕及有毒氣體出現(xiàn)在工作環(huán)境中，危害了操作人員的健康，增加了工人的勞動(dòng)強(qiáng)度。而機(jī)械手可以解決這些問題。 機(jī)械手 可在空間抓、放、搬運(yùn)物體，動(dòng)作靈活多樣，從而替代人工操作，適用于可變換生產(chǎn)品種的中、小批量 自動(dòng)化 生產(chǎn)。 本畢業(yè)設(shè)計(jì)任務(wù)主要通過 PLC 完成對(duì)一個(gè) 5 自由度的機(jī)械手模型控制，使其完成一系列的生產(chǎn)動(dòng)作過程，并使用組態(tài)王軟件 對(duì)機(jī)械手進(jìn)行監(jiān)控，將機(jī)械手的動(dòng)作 過程進(jìn)行了動(dòng) 畫顯示 。設(shè)計(jì) 所使用的機(jī)械 手系統(tǒng) (TVT99D)是由 三菱FX2N48MT PLC 主機(jī)、機(jī)械手 (滾珠絲桿、滑軌 )、 Syntron 42BYG250C 步進(jìn)電機(jī)及其驅(qū)動(dòng)器、傳感器、光電編碼器、氣動(dòng)元件等組成，可實(shí)現(xiàn)機(jī)械手 的上下移動(dòng)、左右移動(dòng)、底盤旋轉(zhuǎn)及手爪旋轉(zhuǎn)、抓放等動(dòng)作。主要采用了步進(jìn)順序控制及步進(jìn)控制技術(shù)。 涵蓋了可編程控制技術(shù)，位置控制技術(shù)、檢測(cè)技術(shù)等，是機(jī)電一體化的典型代表。 設(shè)計(jì)報(bào)告首先介紹了機(jī)械手控制方式的選擇和所選擇方式的簡(jiǎn)介；其次介紹了應(yīng)用 PLC 設(shè)計(jì)機(jī)械手的步驟；還介紹了 PLC 機(jī)械手的程序調(diào)試；最后介紹了應(yīng)用組態(tài)王對(duì)機(jī)械手監(jiān)控的過程，包括畫面繪制、數(shù)據(jù)變量的設(shè)置等。 【 關(guān)鍵詞 】 : 機(jī)械手 PLC 滾珠絲杠 步進(jìn)控制 **大學(xué)本科生畢業(yè)設(shè)計(jì)（論文） II Abstract In industrial production and other domains, something like high temperature, corrosion and poisonous gas appear at workplace, which would increased worker39。s labor intensity and even endangers their health. With manipulator used, those difficult problems can be easily solved. Hand operation can be replaced by manipulator operation, because it can grab, put, move objects flexibly and changefully. So it can be applied to transform the production of variety of medium and smallvolume automated production. The task of the graduation design is to control a mechanical hand model with 5 degrees of freedom by PLC, and use it to plete a series of actions. The KINGVING is used to monitor the mechanical hand, and change its movement into animations. The system(model: TVT99D) I used is posed by MITSUBISHIS FX2NMT PLC, mechanical hand(ball screw, slide rail), Syntron 42BYG250C step motor and its driver module, sensor, photoelectric encoder ,pneumatic ponent and so on. It controls manipulator move vertically or horizontally, chassis or paw rotate, packandplace. The design mainly uses stepping sequence control and stepping control technology. The process covers programmable control technology, position control technology, detection technology, which is a typical representative of mechatronics. The design report firstly describes how to choose the way to control the mechanical hand and introductions of the ways. Then introduces the design steps. It also introduces program test of the manipulator. At last, the paper introduces the steps of processing and monitoring manipulator by KingView. 【 Key words】 : mechanical hand PLC ball screw step control **大學(xué)本科生畢業(yè)設(shè)計(jì)（論文） 目錄 一、 緒論 ............................................................................................ 1 （一） 課題研究目的及意義 ........................................................................................................ 1 （二） 國(guó)內(nèi)外機(jī)械手研究概況 .................................................................................................... 1 ............................................................................................................................. 1 ............................................................................................................................. 2 二、 機(jī)械手控制方式選擇 ...................................................................... 3 （一）機(jī)械手常用控制方法 ......................................................................................................... 3 1．控制方式的分類 ................................................................................................................ 3 ........................................................................................................ 4 （二） PLC 簡(jiǎn)介 .......................................................................................................................... 5 組成 ............................................................................................................................. 5 的特點(diǎn) ......................................................................................................................... 6 3. PLC 的主要功能 ................................................................................................................. 6 4. PLC 的經(jīng)濟(jì)性分析 .............................................................................................................. 7 的應(yīng)用領(lǐng)域及發(fā)展?fàn)顩r ................................................................................................ 7 （三）組態(tài)王簡(jiǎn)介 ........................................................................................................................ 8 ................................................................................................................... 8 ................................................................................................................... 8 **大學(xué)本科生畢業(yè)設(shè)計(jì)（論文） （四）機(jī)械手系統(tǒng)介紹 ............................................................................................................... 10 ........................................................................................................................ 11 ......................................................................................................... 12 ......................................................................................................... 17 4．接近開關(guān)和限位開關(guān) ....................................................................................................... 18 ........................................................................................................................... 19 三、 應(yīng)用 PLC 設(shè)計(jì)機(jī)械手的步驟 .......................................................... 20 （一） 工藝控制和設(shè)計(jì)要求 ...................................................................................................... 20 ........................