【正文】 畢業(yè)設(shè)計（論文）紙 I ┊ ┊ ┊ ┊ ┊ ┊ ┊ ┊ ┊ ┊ ┊ ┊ ┊ 裝 ┊ ┊ ┊ ┊ ┊ 訂 ┊ ┊ ┊ ┊ ┊ 線 ┊ ┊ ┊ ┊ ┊ ┊ ┊ ┊ ┊ ┊ ┊ ┊ ┊ 工業(yè)機器手控制系統(tǒng) [摘要 ] 在工業(yè)生產(chǎn)和其他領(lǐng)域內(nèi)，由于工作的需要，人們經(jīng)常受到高溫、腐蝕及有毒氣體等因素的危害，甚至于危及生命。工業(yè)機械手就這樣誕生了 ,機械手是工業(yè)機器人系統(tǒng)中任務(wù)執(zhí)行機構(gòu)，是機器人的關(guān)鍵部件之一。其電氣方面有步進電機、開關(guān)電源、電磁閥等電子器件組成。該裝置涵蓋了可編程控制技術(shù)，位置控制技術(shù)、氣動技術(shù)等，是機電一體化的典型代表儀器之一。本文介紹的機械手是由 PLC 輸出五路來分別驅(qū)動手臂上下直線運動，手臂左右直線運動，手腕旋轉(zhuǎn)運動，機械手整體旋轉(zhuǎn)運動，手爪夾緊動作的精確定位，微動開關(guān)將位置信 號傳給 PLC 主機；電機拖動手爪和底盤旋轉(zhuǎn)；電磁閥控制氣閥的開關(guān)來控制機械手手爪的張合，從而實現(xiàn)機械手精確運動的功能。本課題擬開發(fā)的工業(yè)機械手模型可在空間抓放物體，動作靈活多樣，可代替人工在高溫和危險的作業(yè)區(qū)進行作業(yè)，并可根據(jù)工件的變化及運動流程的要求隨時更改相關(guān)參數(shù)。 [關(guān)鍵字 ] 機械手 可編程控制器 PLC 位置控制 步進電機 畢業(yè)設(shè)計（論文）紙 II ┊ ┊ ┊ ┊ ┊ ┊ ┊ ┊ ┊ ┊ ┊ ┊ ┊ 裝 ┊ ┊ ┊ ┊ ┊ 訂 ┊ ┊ ┊ ┊ ┊ 線 ┊ ┊ ┊ ┊ ┊ ┊ ┊ ┊ ┊ ┊ ┊ ┊ ┊ Industrial Robot Arms Control System [Abstract] In terms of industrial production and other fields, as a result of the working need， people often accept the factor damage such as the high temperature , corrosion and toxic gas, even lifethreatening. The industry manipulator like this was born。 the manipulator which is one of robot key ponents is in the industry robot assembly system the duty implementing agency. There are electrical machinery, switching power supply, electromagic valve, electronic device position and so on. This equipment which is the integration of machinery model represents one of instruments has covered the programmable control technology, the positions control technology, the air operated technology and so on. This article introduced the manipulator, it outputs four groups by PLC to actuate the abscissa axis, the zaxis, the chassis rotation, handrotating motor separately, and controls the manipulator abscissa axis and the zaxis pint pointing, the micro switch bequeaths the position signal to the PLC main engine。 The electrical machinery drives the hand fingernail and the chassis revolve。 The solenoid valve controls air valve the switch to control the manipulator hand fingernail to gather, then realizes the manipulator proper motion function. This topic plans to develop the industry manipulator model, and it is to be possible to grasp and puts the object nimbly in the space, whose movement is diverse, it may replace human work in high temperature and the dangerous operation area, and may change there lasted parameters when it is necessary according to the work pieces changing and the movement flowing request. [Keyword] manipulator Programmable controller PLC (position logic control) stepelectric motor. 畢業(yè)設(shè)計（論文）紙 III ┊ ┊ ┊ ┊ ┊ ┊ ┊ ┊ ┊ ┊ ┊ ┊ ┊ 裝 ┊ ┊ ┊ ┊ ┊ 訂 ┊ ┊ ┊ ┊ ┊ 線 ┊ ┊ ┊ ┊ ┊ ┊ ┊ ┊ ┊ ┊ ┊ ┊ ┊ 目錄 前言 ................................................................................................................................... 1 第 1 章 概述 ..................................................................................................................... 2 選題背景 .............................................................................................................. 2 機械手的應(yīng)用意義 .................................................................................... 2 機械手的發(fā)展趨勢 .................................................................................... 3 控制系統(tǒng)的選擇 .................................................................................................. 4 豐富的 I/O 接口模塊 ............................................................................. 5 采用模塊化結(jié)構(gòu) ....................................................................................... 6 編程簡單易學(xué) ........................................................................................... 6 PLC 的簡單介紹 ....................................................................................... 6 可編程控制器 (PLC)的歷史與發(fā)展趨勢 ............................................................ 7 可編程控制器 (PLC)的歷史 ...................................................................... 7 可編程控制器的發(fā)展與趨勢 .................................................................... 8 可編程控制器的基本功能和特點 ...................................................................... 9 PLC 基本功能 ........................................................................................... 9 PLC 的特點 ............................................................................................. 10 PLC 的分類 ............................................................................................. 11 可編程控制器的組成和工作原理 .................................................................... 11 可編程控制的硬件組成 .......................................................................... 11 可編程控制的軟件系統(tǒng)和程序 ........................................................... 14 可編程控制器的工作原理 ................................................................... 14 解決的主要問題 ............................................................................................. 15 第 2 章 設(shè)計原理 ......................................................................................................... 16 操作原理簡要說明 ........................................................................................... 16 機械手的構(gòu)成 ................................................................................................. 16 各電氣設(shè)備的控制方式及控制要求 ............................................................... 18 機械手的機能和特性 .............................................................................. 18 軀干和傳動系統(tǒng) .......................