【正文】 electric circuit and so on. If regards as PLC a system, this system is posed by the input variable PLC output variable, the exterior each kind of switching signal, the simulated signal, the sensor examine the signal took PLC the input variable, they input after the PLC exterior post to the internal register in, after the PLC interior logic operation or other each kind of operation, processing delivers the output terminal, they are the PLC output variable, carries on each kind of control by these output variables to the auxiliary equipment. The PLC control system adopts generally easy to understand and to grasp trapezoidal chart language and face industry control simple instruction. The image is directviewing, is based on the field bus technology, opens pletely, and uses the advanced software and hardware technology. The PLC control has the structure simply nimble, the antijamming ability strong, safe reliable, installs the convenience, the failure rate lowly, the maintenance is simple, large scale saves the use cost the characteristic, can satisfy each kind of center small scale process control, the smooth logic control and the data acquisition duty demand, widely has used in gradually in the industry control system, including domain and so on metallurgy, mining industry, machinery, light industry, has provided the powerful tool for the industrial automation. The control engineering in the near future to will use in the logical equipment which programmed the process and the machinery controls carrying on an investigation, although the puter and puter technology already provided the infinite control for each kind of control to be possible, but PLC still was a important part. In this investigation, it will surpass half number of people to expand its PLC in the future 12 months the investment. It will surpass 40% person in the future investment many in the past 12 months. The PLC application scope is extremely 外文翻譯資料 6 widespread. In this 300 individual participation investigation, majority of PLC all uses in the machinery control, the process control follows closely after that, then is the movement control, the batch control and the diagnosis. The majority uses in directly the factory level (54%), uses in OEM is 25%, two all is 17%. In the industrial production assembly line, must move frequently the transmission belt A on goods to conveyer belt B on. If direct artificially is engaged in this kind of duplicated work, arid, tasteless also labor intensity big, is easy to cause operates worker39。單動(dòng)工作方式：利用按鈕對(duì)夾手每一動(dòng)作單獨(dú)進(jìn)行控制。 物料搬運(yùn)系統(tǒng)具有左右移動(dòng)、上下移動(dòng)及對(duì)物料的夾緊和放松、推料進(jìn)退功能，在 PLC控制下可實(shí)現(xiàn)單步、自動(dòng)等多種工作方式。一般是由受控設(shè)備的動(dòng)作順序和工藝要求，構(gòu)成工步狀態(tài)表，形成梯形圖，再編制 PLC指令。機(jī)器手是多自由度的開式串聯(lián)結(jié)構(gòu)．在空間和時(shí)間中的動(dòng)力學(xué)參數(shù)隨其位形而不斷變化．系統(tǒng)要求的速度高 控制范圍廣 精度高，傳統(tǒng)的單 自由度機(jī)構(gòu)的控制技術(shù)遠(yuǎn)不能滿足這種控制對(duì)象 好在氣動(dòng)機(jī)器手多勾點(diǎn)到點(diǎn)的多段定位控制，追求目標(biāo)點(diǎn)的定位精度和多軸同時(shí)協(xié)凋有序運(yùn)動(dòng)控制，但較少要求高的軌跡精度，從而簡化了對(duì)控制系統(tǒng)的要求。但標(biāo)準(zhǔn)的工業(yè)機(jī)器人只不過是一臺(tái)具有若干個(gè)自由度的智能機(jī)電設(shè)備．孤立的一臺(tái)機(jī)器人在實(shí)際工況中沒有任何應(yīng)用價(jià)值．只有根據(jù)作業(yè)內(nèi)容、工件形式、質(zhì)量、外形特征和尺寸大小等因素給機(jī)器人配以相適應(yīng)的輔助機(jī)械裝置如手爪，它才會(huì)成為實(shí)用的生產(chǎn)設(shè)備．氣動(dòng)不僅是機(jī)器人的主要驅(qū)動(dòng)方式之一．在外文翻譯資料 2 要求機(jī)器手末端執(zhí)行器動(dòng)作迅速、結(jié)構(gòu)簡單、控制維護(hù)方便、成本較低，而且柔性轉(zhuǎn)換快捷．并具有通用性的裝配和搬運(yùn)等“拾一放”、傳送動(dòng)作作業(yè)時(shí)，多采用氣動(dòng)，或氣動(dòng)與其他傳動(dòng)控制技術(shù)組合來進(jìn)一步提高其運(yùn)動(dòng)精度和柔性 在作業(yè)空間范圍有限．工作程序相對(duì)固定．而且動(dòng)作頻繁、重復(fù)性強(qiáng)的中小功率工況．采用氣動(dòng)模塊化機(jī)構(gòu)單元的組合來實(shí)現(xiàn)機(jī)器手作業(yè)，更能體現(xiàn)氣動(dòng)技術(shù)有效取代人手操作實(shí)現(xiàn)生產(chǎn)過程合理化和自動(dòng)化的特征和優(yōu)越性。 PLC 的應(yīng)用范圍十分廣泛。 可編程控制器 （ PLC） 是以微處理器為核心，集計(jì)算機(jī)技術(shù)、自動(dòng)化控制技術(shù)于一體的一種新型工業(yè)控制系統(tǒng)。 控制工程近期對(duì)用于編程過程和機(jī)械控制的邏輯設(shè)備進(jìn)行了一項(xiàng)調(diào)查，雖然計(jì)算機(jī) 和計(jì)算機(jī)技術(shù)已經(jīng)為各種控制提供了無限的控制可能，但是 PLC 仍然是其中重要的一部分。而采用氣動(dòng)機(jī)械手按規(guī)定的動(dòng)作和規(guī)律進(jìn)行搬運(yùn)，可以做到快速、準(zhǔn)確、方便，大大的減輕勞動(dòng)強(qiáng)度，提高生產(chǎn)的自動(dòng)化程度 。在實(shí)際運(yùn)行中、手爪的夾持力應(yīng)保證大于所有靜態(tài)和動(dòng)態(tài)力的總和。氣動(dòng)系統(tǒng)的應(yīng)用，引起了世界各國產(chǎn)業(yè)界的普遍重視 。此系統(tǒng)能夠?qū)崿F(xiàn) 物料在一個(gè)平面內(nèi)的搬運(yùn)。在這個(gè)系統(tǒng)中，我們只實(shí)現(xiàn)一個(gè)物料的循環(huán)動(dòng)作，故在機(jī)械手回原點(diǎn)后，需將物料推回原來位置。而 PLC是通用的控制器． 標(biāo)準(zhǔn)的積木式硬件結(jié)構(gòu)，模塊化的軟件設(shè)計(jì)。 The as far as possible designation standard module, the simpl