【正文】 河北農(nóng)業(yè)大學(xué) 機(jī)電學(xué)院 畢業(yè)論文 題 目： 基于 PLC 的 四自由度 機(jī)械的手控制系統(tǒng) 2 基于 PLC 的 四 自由度 機(jī)械手 控制系統(tǒng) 摘要 可編程序控制器（ Programmable controller）簡稱 PLC，由于 PLC 的可靠性高、環(huán)境適應(yīng)性強(qiáng)、靈活通用、使用方便、維護(hù)簡單，所以 PLC 的應(yīng)用領(lǐng)域在迅速擴(kuò)大。對早期的 PLC，凡是有繼電器的地方，都可采用。而對當(dāng)今的 PLC 幾乎可以說凡是需要控制系統(tǒng)存在的地方就需要 PLC。尤其是近幾年來， PLC 的成本下降，功能又不段增強(qiáng)，所以，目前 PLC 在國內(nèi)外已被廣泛應(yīng)用于各個(gè)行業(yè)。本文介紹的機(jī)械手是由 PLC 輸出多路脈沖，分別驅(qū)動(dòng)橫軸、豎軸變頻器，控制機(jī)械手橫軸和豎軸的精確定位，微動(dòng)開關(guān)將位置信號傳給 PLC主機(jī)；位置信號由接近開關(guān)反饋給 PLC 主機(jī)，通 過交流電機(jī)的正反轉(zhuǎn)來控制機(jī)械手手爪的張合，從而實(shí)現(xiàn)機(jī)械手精確運(yùn)動(dòng)的功能。本課題擬開發(fā)的物料搬運(yùn)機(jī)械手可在空間抓放物體，動(dòng)作靈活多樣，可代替人工在高溫和危險(xiǎn)的作業(yè)區(qū)進(jìn)行作業(yè)，并可根據(jù)工件的變化及運(yùn)動(dòng)流程的要求隨時(shí)更改相關(guān)參數(shù)。 關(guān)鍵詞：機(jī)械手 PLC Abstract Programmable is referred as to the PLC. With the high reliability, adaptability in environment and flexibility, the PLC is widely used and expanding in the fields of application. Where there need control systems, the PLC can be used. Especially in recent years, the low cost, increased feature without enhancement, therefore, he current PLC has been widely used in various industries inland and abroad. This paper presents a manipulator by several PLC output pulses, driving horizontal, the vertical axis transducer, controlling manipulator axis horizontal and vertical positioning precision, microswitches position signal transmission which send message to PLC. Location signal is to be the feedback from switching from the mainframe to the PLC. With the exchange of Motor reversion to control the open and join of the manipulator, accurate manipulator movement functions can be realized. The topic is to develop the manipulator grasping objects in space, moving flexibly. What’ s more, it can replace the artificial to conducted operations in heat and dangerous zones. According to the workpiece， we can change the work process and change the relevant parameters if the requirements need. Key Words: Manipulator PLC control 目 錄 1 緒論 ............................................................................................................................ 4 現(xiàn)狀 ......................................................................................................................................................4 機(jī)械手的發(fā)展概況 .............................................................................................................................4 PLC的發(fā)展概況 .................................................................................................................................5 PLC的定義 .........................................................................................................................................6 PLC的特點(diǎn) .........................................................................................................................................7 PLC 的工作原理 ..................................................................................................................................7 本課題的目的和意義 ..................................................................................................................... 10 2 系統(tǒng)結(jié)構(gòu) 的 確定 ............................................................................................................ 11 工業(yè)機(jī)械手概述 .............................................................................................................................. 11 機(jī)械手設(shè)計(jì) ...................................................................................................................................... 11 ............................................................................................................................. 11 2． ........................................................................................................................... 12 四自由度機(jī)械手的結(jié)構(gòu)及動(dòng)作過程 ............................................................................................ 14 控制器件選型 .................................................................................................................................. 15 ................................................................................................................................. 15 ..................................................................................................................... 16 直流電機(jī) ................................................................................................................................ 18 ： ......................................................................................................................... 18 PLC的選型 ......................................................................................................................... 19 3 控制系統(tǒng)的設(shè)計(jì) ............................................................................................................ 20 系統(tǒng)設(shè)計(jì)的基本步驟 ..................................................................................................................... 20 控制系統(tǒng)的要求 ............................................................................................................................. 21 系統(tǒng)及原理 圖 32 .....................................................................