【正文】 零部件組裝 ，加工工件 的搬運(yùn)、裝卸，特別是在自動(dòng)化數(shù)控機(jī)床、組合機(jī)床上使用更普遍。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)。對(duì)早期的 PLC，凡是有繼電器的地方，都可采用。而對(duì)當(dāng)今的 PLC 幾乎可以說(shuō)凡是需要控制系統(tǒng)存在的地方就需要 PLC。 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(guò)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 ................................................................................................................... 21 系統(tǒng)接線圖 .................................................................................................................................... 22 I/O口接線圖 ......................................................................................................................... 22 PLC控制的安裝與布線 .....................................................................................