【正文】 on. Robots already in use everywhereSales of industrial robots have risen to record levels and they have huge, untapped potential for domestic chores like mowing the lawn and vacuuming the carpet. Last year 3,000 underwater robots, 2,300 demolition robots and 1,600 surgical robots were in operation. A big increase is predicted for domestic robots for vacuum cleaning and lawn mowing, increasing from 12,500 in 2000 to almost 500,000 by the end of 2004. IBot Roomba floor cleaning robot is now available at under $. In the wake of recent anthrax scares, robots are increasingly used in postal sorting applications. Indeed, there is huge potential to mechanize the US postal service. Some 1,000 robots were installed last year to sort parcels and the US postal service has estimated that it has the potential to use up to 80,000 robots for sorting. Look around at the robots around us today: automated gas pumps, bank ATMs, selfservice checkout lanes，machines that are already replacing many service jobs. Fastforward another few decades. It doesn39。 the potential is significant because soon robots will offer not only improved costeffectiveness, but also advantages and operations that have never been possible before. Envisioning Vision Despite the wishes of robot researchers to emulate human appearance and intelligence, that simply hasn39。t be matched with conventional hard tooling. Boosting Competitiveness As mentioned, robotic applications originated in the automotive industry. General Motors, with some 4050,000 robots, continues to utilize and develop new approaches. The ability to bring more intelligence to robots is now providing significant new strategic options. Automobile prices have actually declined over the last two to three years, so the only way that manufacturers can continue to generate profits is to cut structural and production costs. When plants are converted to new automobile models, hundreds of millions of dollars are typically put into the facility. The focus of robotic manufacturing technology is to minimize the capital investment by increasing flexibility. New robot applications are being found for operations that are already automated with dedicated equipment. Robot flexibility allows those same automated operations to be performed more consistently, with inexpensive equipment and with significant cost advantages. Robotic AssistanceA key robotics growth arena is Intelligent Assist Devices (IAD).operators manipulate a robot as though it were a bionic extension of their own limbs with increased reach and strength. This is robotics technology not replacements for humans or robots, but rather a new class of ergonomic assist products that helps human partners in a wide variety of ways, including power assist, motion guidance, line tracking and process automation. IAD use robotics technology to help production people to handle parts and payloads, more, heavier, better, faster, with less strain. Using a humanmachine interface, the operator and IAD work in tandem to optimize lifting, guiding and positioning movements. Sensors, puter power and control algorithms translate the operator39。 they are used as space explorers, remotely operated surgeons and even pets ，like Sony39。同時(shí)，對身邊的同學(xué)也表示感謝，對于我的論文中某些觀點(diǎn)提出的修改建議對我而言，獲益頗多。通過老師的不斷指導(dǎo)，使我對自己的選題有了更深刻的認(rèn)識，并且收獲的不僅僅是知識方面的，邵老師的治學(xué)態(tài)度于我也是一筆財(cái)富，我會(huì)好好珍惜這次收獲的。但設(shè)計(jì)的思想是能用軟件實(shí)現(xiàn)的功能盡量用軟件實(shí)現(xiàn)，因?yàn)楸阌谛薷暮蛿U(kuò)展。2. 在硬件編程中，由于用到的硬件比較多且復(fù)雜，則采用模塊化思想連接硬件圖，會(huì)使思路比較清晰。如何在硬件配置上提高系統(tǒng)對外界環(huán)境的抗干擾能力，以及提高軟件對不同的工藝、設(shè)備情況做出準(zhǔn)確、合理的判斷能力，是提高系統(tǒng)可靠性的重要手段。 環(huán)境干擾及改進(jìn)措施 環(huán)境因素也存在干擾問題，如工作環(huán)境的溫度、濕度問題，防振問題散熱問題等。3）開關(guān)量、模擬量I/O線最好也分開敷設(shè)。在PLC的控制系統(tǒng)中，由前兩種耦合造成的干擾是主要的，第三種是次要的，他們對控制系統(tǒng)主要造成共模形式的干擾。同時(shí)供電電網(wǎng)內(nèi)部的變化，如開關(guān)操作浪涌、大型電力設(shè)備啟停、交直流傳動(dòng)裝置引起的諧波、電網(wǎng)短路暫態(tài)沖擊等，都通過輸電線路傳到電源原邊，影響PLC系統(tǒng)、變送器供電電源和PLC系統(tǒng)直接連接的電器儀表的供電電源等。硬件抗干擾技術(shù)是系統(tǒng)設(shè)計(jì)時(shí)的首選措施。 仿真圖較多，將放在附錄一欄中。在這個(gè)過程中，必須反復(fù)調(diào)試，修改程序。在洗浴功能模塊中由于EE2被多次調(diào)用，且因?yàn)榫幊讨胁捎玫氖琼樞蚩刂屏鞒虉D設(shè)計(jì)思想，不自覺地就會(huì)長生雙線圈輸出問題。 (2) 梯形圖每一行都是從左邊開始，線圈接在最右邊（線圈右邊不允許再有接觸點(diǎn)(3) 線圈不能直接接在左邊母線上。利用梯形圖編程，首先必須確定所使用的編程元件編號，PLC是按編號來區(qū)別操作元件的 。另外。如需要將多個(gè)電路塊并聯(lián)連接，應(yīng)在每個(gè)并聯(lián)電路塊之后使用一個(gè)ORB指令，用這種方法編程時(shí)并聯(lián)電路塊的個(gè)數(shù)沒有限制；也可將所有要并聯(lián)的電路塊依次寫出，然后在這些電路塊的末尾集中寫出ORB的指令，但這時(shí)ORB指令最多使用7次。 (2) 觸點(diǎn)串連指令（AND/ANDI）、并聯(lián)指令（OR/ORI）符號（名稱） 功 能 梯形圖表示 操作元件AND（與） 常開觸點(diǎn)串聯(lián)連接 X，Y，M，T，C,SANDI（與非） 常閉觸點(diǎn)串聯(lián)連接 X，Y，M，T，C,SOR（或） 常開觸點(diǎn)并聯(lián)連接 X，Y，M，T，C，SORI （ 或非） 常閉觸點(diǎn)并聯(lián)連接 X，Y，M，T，C，SAND、ANDI指令用于一個(gè)觸點(diǎn)的串聯(lián)，但串聯(lián)觸點(diǎn)的數(shù)量不限，這兩個(gè)指令可連續(xù)使用。每條指令及其應(yīng)用實(shí)例都以梯形圖和語句表兩種編程語言對照說明。定時(shí)器可以用用戶程序存儲器內(nèi)的常數(shù)K作為設(shè)定值，也可以用數(shù)據(jù)寄存器（D）的內(nèi)容作為設(shè)定值。但是，這些觸點(diǎn)不能直接驅(qū)動(dòng)外部負(fù)載，外部負(fù)載的驅(qū)動(dòng)必須通過輸出繼電器來實(shí)現(xiàn)。它們一般位于機(jī)器的下端。輸出繼電器的線圈由程序控制，輸出繼電器的外部輸出主觸點(diǎn)接到PLC的輸出端子上供外部負(fù)載使用，其余常開/常閉觸點(diǎn)供內(nèi)部程序使用。輸入電路的時(shí)間常數(shù)一般小于10ms。它在不同的指令操作下，其工作狀態(tài)可以無記憶，也可以有記憶，還可以作脈沖數(shù)字元件使用。通過顯示表將阻值的變化轉(zhuǎn)換成相對應(yīng)的LED發(fā)光二極管亮熄，從而模擬出被測液位的高低變化，當(dāng)液位在兩濕（干）簧管之間時(shí)不吸合，顯示表保持上一位置，直到下一濕（干）簧管動(dòng)作，保證其不出現(xiàn)暗區(qū)。 水位傳感器的選擇水位傳感器就相當(dāng)于壓力開關(guān)。%） 冷接點(diǎn)溫 輸入溫度：0℃～55℃ 177。可進(jìn)行在線更換。本次設(shè)計(jì)中所選用的型號是FX2N48ER三菱PLC。 　　 RUN/STOP開關(guān) 面板上運(yùn)行/停止開關(guān)易于操作。 　　持續(xù)掃描功能 　　為應(yīng)用所需求的持續(xù)掃描時(shí)間定義操作周期。 　　快速斷開端子塊 因?yàn)椴捎昧藘?yōu)良的可維護(hù)性快速斷開端子塊，即使接著電纜也可以更換單元。 　　對每一個(gè)FX2n主單元可配置總計(jì)達(dá)8個(gè)特殊功能模塊即網(wǎng)絡(luò)和數(shù)據(jù)通信。第3章 硬件系統(tǒng)設(shè)計(jì) 三菱FX2NPLC簡介 FX2N系列是FX系列PLC家族中最先進(jìn)的系列。由于觸摸屏技術(shù)過于復(fù)雜，加上費(fèi)事耗力，不能突出設(shè)計(jì)的檢驗(yàn)大學(xué)階段所學(xué)的專業(yè)課所學(xué)知識目的，本設(shè)計(jì)采用購買的電阻式觸摸屏。其流程圖如下所示：圖24單淋浴流程圖該功能的I/O分配表如下所示：表23 單淋浴功能I/O表功能代碼軟元件單淋浴啟動(dòng)按鈕SB6X6浴池底部注水電磁閥V3KM3Y3洗浴池烘干電磁閥V6KM6Y6浴池排水電磁閥V12KM14Y14噴淋電磁閥V14KM16Y16抽水電動(dòng)機(jī)E1KM21Y21單淋浴梯形圖如下：圖25單淋浴梯形圖單淋浴程序如下：0 LD X0061 SET M152 SET M163 SET M174 LD M155 OUT Y0036 LD M167 OUT Y0148 LD M179 OUT Y01610 OUT T28 K300013 LD T2814 OR Y02115 MPS16 ANI T2917 OUT Y02118 MPP19 OUT T29 K1022 LD Y03023 OR T2924 MPS25 ANI T3026 OUT Y03027 MPP28 OUT T30 K180031 LD T3032 LDI T3133 AND Y00634 ORB35 RST M1536 RST M1737 OUT Y00638 OUT T31 K60041 LD T3142 RST M1643 END 洗浴模塊洗浴模塊是該設(shè)計(jì)的主要模塊，人體進(jìn)行洗浴時(shí)先躺臥在洗浴池中，然后按下觸摸屏上的洗浴開始按鈕，洗浴過程就會(huì)按著圖26洗浴流程圖所示圖26洗浴流程圖洗浴功能I/O表如下所示：表24 洗浴功能I/O表功能 代碼軟元件模式一啟動(dòng)按鈕 SB2 X2模式二啟動(dòng)按鈕 SB3X3洗浴池水位傳感器 SB4X4側(cè)面進(jìn)水電磁閥V1KM1Y1底部進(jìn)水電磁閥V3KM3Y3控制水循環(huán)電磁閥V4KM4Y4加入浴液電